Brake Control System: Section

BRAKE CONTROL SYSTEM
F BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
ABS REFERENCE VALUE FROM CONSULT-II ......... 40 BRC
CONSULT- II Functions .......................................... 41
PRECAUTIONS .......................................................... 4 CONSULT-II MAIN FUNCTION ........................... 41
Precautions for Brake System .................................. 4 CONSULT-II BASIC OPERATION PROCEDURE G
Precautions for Brake Control .................................. 4 ... 41
Diagnosis Precaution ............................................... 4 SELF-DIAGNOSIS .............................................. 43
CAN SYSTEM ....................................................... 4 DATA MONITOR ................................................. 45
PREPARATION ........................................................... 5 H
ACTIVE TEST ..................................................... 47
Commercial Service Tools ........................................ 5 For Fast and Accurate Diagnosis ........................... 49
SYSTEM DESCRIPTION ............................................ 6 PRECAUTIONS FOR DIAGNOSIS ..................... 49
System Diagram ....................................................... 6 Basic Inspection ..................................................... 50 I
System Component Parts ........................................ 6 BASIC INSPECTION 1 BRAKE FLUID LEVEL,
ABS Function ........................................................... 7 LEAKS, AND BRAKE PADS ................................ 50
EBD Function ........................................................... 7 BASIC INSPECTION 2 POWER SYSTEM TER- J
Fail-Safe Function .................................................... 7 MINAL LOOSENESS AND BATTERY INSPEC-
ABS, EBD SYSTEM .............................................. 7 TION .................................................................... 50
Hydraulic Circuit Diagram ........................................ 8 BASIC INSPECTION 3 ABS WARNING LAMP
CAN COMMUNICATION ............................................ 9 K
INSPECTION ...................................................... 50
System Description .................................................. 9 Inspection 1 Wheel Sensor System ........................ 51
CAN Communication Unit For 2WD Models ............ 9 Inspection 2 ABS Actuator and Electric Unit (Control
TYPE 1/TYPE 2/TYPE 3/TYPE 4/TYPE 5/TYPE Unit) ........................................................................ 54 L
6/TYPE 7/TYPE 8 ............................................... 10 Inspection 3 Solenoid Valve System ...................... 55
TYPE 9/TYPE10/TYPE 11/TYPE 12/TYPE 13/ Inspection 4 CAN Communication Lines ................ 56
TYPE 14/TYPE 15/TYPE 16 ............................... 15 Inspection 5 Actuator Motor, Motor Relay, and Cir- M
CAN Communication Unit For AWD Models .......... 20 cuit .......................................................................... 56
TYPE 17/TYPE 18/TYPE 19/TYPE 20/TYPE 21/ Inspection 6 ABS Actuator and Electric Unit (Control
TYPE 22/TYPE 23/TYPE 24 ............................... 20 Unit) Power Supply and Ground Circuit .................. 57
TYPE 25/TYPE26/TYPE 27/TYPE 28/TYPE 29/ Inspection 7 G Sensor System ............................... 59
TYPE 30/TYPE 31/TYPE 32 ............................... 26 Symptom 1 Excessive ABS Function Operation Fre-
TROUBLE DIAGNOSIS ............................................ 31 quency .................................................................... 60
How to Perform Trouble Diagnosis for Quick and Symptom 2 Unexpected Pedal Action .................... 60
Accurate Repair ..................................................... 31 Symptom 3 Long Stopping Distance ...................... 61
INTRODUCTION ................................................. 31 Symptom 4 ABS Function Dose Not Operate ........ 62
DIAGNOSIS FLOWCHART ................................ 32 Symptom 5 Pedal Vibration or ABS Operation
ASKING COMPLAINTS ...................................... 33 Sound Occurs ......................................................... 62
EXAMPLE OF DIAGNOSIS SHEET ................... 33 WHEEL SENSORS ................................................... 64
Component Installation Location ............................ 34 Removal and Installation ........................................ 64
Schematic — ABS — ............................................. 35 REMOVAL ........................................................... 64
Wiring Diagram — ABS — ..................................... 36 INSTALLATION ................................................... 64
Control Unit Input/Output Signal Standard ............. 40
Revision; 2004 April BRC-1 2003 Murano

SENSOR ROTOR ...................................................... 65 REFERENCE VALUE FROM CONSULT-II ........ 109
Removal and Installation ........................................ 65 CONSULT-II Functions ......................................... 112
REMOVAL ........................................................... 65 CONSULT-II MAIN FUNCTION ......................... 112
INSTALLATION .................................................... 65 CONSULT-II BASIC OPERATION PROCEDURE
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)... 66 . 112
Removal and Installation ........................................ 66 SELF-DIAGNOSIS ............................................. 114
DATA MONITOR ................................................ 118
VDC/TCS/ABS ACTIVE TEST .................................................... 120
For Fast and Accurate Diagnosis .......................... 122
PRECAUTIONS ......................................................... 67 PRECAUTIONS FOR DIAGNOSIS ................... 122
Precautions for Supplemental Restraint System Basic Inspection .................................................... 123
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN- BASIC INSPECTION 1 BRAKE FLUID LEVEL,
SIONER” ................................................................. 67 LEAKS, AND BRAKE PADS .............................. 123
Precautions for Brake System ................................ 67 BASIC INSPECTION 2 POWER SYSTEM TER-
Precautions for Brake Control ................................ 67 MINAL LOOSENESS AND BATTERY INSPEC-
Diagnosis Precaution .............................................. 68 TION .................................................................. 123
CAN SYSTEM ..................................................... 68 BASIC INSPECTION 3 ABS WARNING LAMP,
Precaution for Harness Repair ............................... 68 VDC OFF INDICATOR LAMP, SLIP INDICATOR
CAN SYSTEM ..................................................... 68 LAMP INSPECTION .......................................... 123
PREPARATION ......................................................... 69 Inspection 1 Wheel Sensor System ...................... 125
Commercial Service Tools ...................................... 69 Inspection 2 Engine System ................................. 127
ON-VEHICLE SERVICE ............................................ 70 Inspection 3 VDC/TCS/ABS Control Unit System .128
Adjustment of Steering Angle Sensor Neutral Posi- Inspection 4 Pressure Sensor System .................. 129
tion .......................................................................... 70 Inspection 5 Steering Angle Sensor System ......... 131
Calibration of Decel G Sensor ................................ 71 Inspection 6 Yaw Rate/Side/Decel G sensor System
SYSTEM DESCRIPTION .......................................... 72 .132
System Diagram ..................................................... 72 Inspection 7 Solenoid and VDC Change-Over Valve
System Component Parts ....................................... 73 System .................................................................. 134
VDC Function ......................................................... 73 Inspection 8 Actuator Motor, Motor Relay, and Cir-
TCS Function .......................................................... 74 cuit ........................................................................ 135
ABS Function .......................................................... 74 Inspection 9 ABS Actuator and Electric Unit (Control
EBD Function ......................................................... 74 Unit) Power Supply and Ground Circuit ................ 136
Fail-Safe Function .................................................. 74 Inspection 10 Stop Lamp Switch System .............. 137
VDC/TCS SYSTEM ............................................. 74 Inspection 11 Brake Fluid Level Sensor System ... 138
ABS, EBD SYSTEM ............................................ 74 Inspection 12 When “ST ANG SEN SIGNAL”
Hydraulic Circuit Diagram ....................................... 75 Appears on Self-Diagnosis Results Display .......... 139
CAN COMMUNICATION ........................................... 76 Inspection 13 CAN Communication System ......... 139
System Description ................................................. 76 Inspection 14 When “DECEL G SEN SET” Appears
CAN Communication Unit For 2WD Models ........... 76 on Self-Diagnosis Results Display ........................ 140
TYPE 1/TYPE 2/TYPE 3/TYPE 4/TYPE 5/TYPE Inspection 15 When “ESTM VEH SPD SIG” Appears
6/TYPE 7/TYPE 8 ................................................ 77 on Self-Diagnosis Results Display ........................ 140
TYPE 9/TYPE10/TYPE 11/TYPE 12/TYPE 13/ Inspection 16 VDC OFF Indicator Lamp Dose Not
TYPE 14/TYPE 15/TYPE 16 ............................... 82 Illuminate ............................................................... 140
CAN Communication Unit For AWD Models .......... 87 Component Inspection .......................................... 141
TYPE 17/TYPE 18/TYPE 19/TYPE 20/TYPE 21/ VDC OFF SWITCH ............................................ 141
TYPE 22/TYPE 23/TYPE 24 ............................... 87 Symptom 1 Excessive ABS Function Operation Fre-
TYPE 25/TYPE26/TYPE 27/TYPE 28/TYPE 29/ quency .................................................................. 141
TYPE 30/TYPE 31/TYPE 32 ............................... 93 Symptom 2 Unexpected Pedal Reaction .............. 141
TROUBLE DIAGNOSIS ............................................ 98 Symptom 3 The Braking Distance Is Long ............ 142
How to Perform Trouble Diagnosis for Quick and Symptom 4 ABS Function Does Not Operate ....... 143
Accurate Repair ...................................................... 98 Symptom 5 Pedal Vibration or ABS Operation
INTRODUCTION ................................................. 98 Sound Occurs ....................................................... 143
DIAGNOSIS FLOWCHART ................................. 99 Symptom 6 Vehicle Jerks During VDC/TCS/ABS
ASKING COMPLAINTS ..................................... 100 Control .................................................................. 144
EXAMPLE OF DIAGNOSIS SHEET .................. 100 WHEEL SENSORS ................................................. 146
Component Installation Location .......................... 101 Removal and Installation ....................................... 146
Schematic ............................................................. 102 REMOVAL .......................................................... 146
Wiring Diagram — VDC — ................................... 103 INSTALLATION .................................................. 146
Control Unit Input/Output Signal Standard ............ 109

SENSOR ROTOR ................................................... 147 G SENSOR .............................................................. 150
Removal and Installation ...................................... 147 Removal and Installation ...................................... 150 A
REMOVAL ......................................................... 147 REMOVAL ......................................................... 150
INSTALLATION ................................................. 147 INSTALLATION ................................................. 150
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY). 148 STEERING ANGLE SENSOR ................................ 151 B
Removal and Installation ...................................... 148 Removal and Installation ...................................... 151
BRC

PRECAUTIONS
[ABS]
PRECAUTIONS
[ABS] PFP:00001
Precautions for Brake System AFS001ZN
● Recommended fluid is brake fluid “DOT 3”.

● Do not reuse drained brake fluid.
● Be careful not to splash brake fluid on painted areas.
● To clean or wash all parts of master cylinder, disc brake caliper and wheel cylinder, use clean brake fluid.
● Never use mineral oils such as gasoline or kerosene. They will ruin rubber parts of the hydraulic system.
● Use flare nut wrench when removing and installing brake tube.
● Always torque brake lines when installing.
● Before working, turn ignition switch OFF and disconnect electri-
cal connectors of ABS actuator and electric control unit or bat-
tery terminals.
● Burnish the brake contact surfaces after refinishing or replacing
drums or rotors, after replacing pads or linings, or if a soft pedal
occurs at very low mileage.
Refer to BR-32, "BRAKE BURNISHING PROCEDURE" .
WARNING: SBR686C
Clean brake pads and shoes with a waste cloth, then wipe with
a dust collector.
Precautions for Brake Control AFS0018B
● During ABS operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
● Just after starting vehicle after ignition switch ON, brake pedal may vibrate or motor operating noise may
be heard from engine compartment. This is a normal status of operation check.
● Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel,
or snow-covered (fresh, deep snow) roads.
● When an error is indicated by ABS or another warning lamp, collect all necessary information from cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting
diagnostic servicing. Besides electrical system inspection, check brake booster operation, brake fluid
level, and fluid leaks.
● If tire size and type are used in an improper combination, or brake pads are not Genuine NISSAN parts,
stopping distance or steering stability may deteriorate.
● If there is a radio, antenna, or antenna lead-in wire (including wiring) near control module, ABS function
may have a malfunction or error.
● If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
Diagnosis Precaution AFS0018C
CAN SYSTEM
● Do not apply voltage of 7.0V or higher to terminal to be measured.
● Maximum open terminal voltage of tester in use shall be 7.0V or lower.
● Before checking harnesses, turn ignition switch OFF and disconnect battery negative cable.

PREPARATION
[ABS]
PREPARATION PFP:00002
A
Commercial Service Tools AFS0018E
Tool name Description

B
1.Flare nut crowfoot

a: 10mm (0.39 in) Removing and installing each brake piping C
2.Torque wrench
S-NT360
D
BRC

SYSTEM DESCRIPTION
[ABS]
SYSTEM DESCRIPTION PFP:00000
System Diagram AFS0018F
PFIA0462E
System Component Parts AFS0018G
PFIA0416E
1. Sensor rotor (FR) 2. Wheel sensor (FR) 3. Wheel sensor (FL)

4. Sensor rotor (FL) 5. Brake booster and Master cylinder 6. ABS actuator and electric unit
(control unit)
7. Sensor rotor (RR) 8. Wheel sensor (RR) 9. Wheel sensor (RL)
10. Sensor rotor (RL) 11. Combination meter
[Brake warning lamp,
ABS warning lamp]

SYSTEM DESCRIPTION
[ABS]
ABS Function AFS0018H
A
● The Anti-Lock Brake System is a function that detects wheel revolution while braking, and it improves
handling stability during sudden braking by electrically preventing 4 wheel lock. Maneuverability is also
improved for avoiding obstacles.
● If the electrical system breaks down, then Fail-Safe function is activated, ABS becomes inoperative, and B
ABS warning lamp turns on.
● Electrical System Diagnosis by CONSULT-II is available.
C
D
EBD Function AFS0018I E
● Electronic Brake Distributor is a function that detects subtle slippages between front and rear wheels dur-
ing braking, and it improves handling stability by electronically controlling Brake Fluid Pressure which
results in reduced rear wheel slippage. BRC
● In case of electrical system break down, Fail-Safe function is activated, EBD and ABS becomes inopera-
tive, and ABS warning lamp and brake warning lamp are turned on.
● Electrical System Diagnosis by CONSULT-II is available. G
● During EBD operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
be heard from engine compartment. This is a normal status of operation check. H
● Stopping distance may be longer than that of vehicles without EBD when vehicle drives on rough, gravel,
I
Fail-Safe Function AFS0018J
ABS, EBD SYSTEM

In case of electrical problems with ABS, ABS warning lamp will turn on. In case of electrical problem with EBD,
Brake warning lamp and ABS warning lamp will turn on. Simultaneously, ABS become one of following condi- J
tions of Fail-Safe function.
1. For ABS trouble, only EBD is activated and condition of vehicle is same condition of vehicles without ABS
system. K
2. For EBD trouble, EBD and ABS become inoperative, and condition of vehicle is same as condition of vehi-
cles without ABS, EBD system.
NOTE: L
In step 1 shown above, self-diagnosis when ignition switch is turned ON and when vehicle starts at initial time
is carried out. ABS self-diagnosis noise may be hard as usual.
M

SYSTEM DESCRIPTION
[ABS]
Hydraulic Circuit Diagram AFS0018K
PFIA0422E

CAN COMMUNICATION
[ABS]
CAN COMMUNICATION PFP:23710
A
System Description AFS00213
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec- B
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only. C
CAN Communication Unit For 2WD Models AFS00214
Body type Wagon D

Axle 2WD
Engine VQ35DE
E
Transmission CVT
Brake control ABS VDC
Low tire pressure warning BRC
× × × × × × × ×
system
Navigation system × × × × × × × ×
Automatic drive positioner × × × × × × × × G
CAN communication unit
ECM × × × × × × × × × × × × × × × ×
H
TCM × × × × × × × × × × × × × × × ×
Low tire pressure warning
× × × × × × × ×
control unit
I
Display unit × × × × × × × ×
Display control unit × × × × × × × ×
Data link connector × × × × × × × × × × × × × × × × J
BCM × × × × × × × × × × × × × × × ×
Unified meter and A/C amp. × × × × × × × × × × × × × × × ×
K
Steering angle sensor × × × × × × × ×
Driver seat control unit × × × × × × × ×
ABS actuator and electric L
× × × × × × × × × × × × × × × ×
unit (control unit)
IPDM E/R × × × × × × × × × × × × × × × ×
BRC-10, "TYPE 1/TYPE 2/TYPE 3/TYPE 4/TYPE BRC-15, "TYPE 9/TYPE10/TYPE 11/TYPE 12/ M
CAN communication type
5/TYPE 6/TYPE 7/TYPE 8" TYPE 13/TYPE 14/TYPE 15/TYPE 16"
×: Applicable

CAN COMMUNICATION
[ABS]
TYPE 1/TYPE 2/TYPE 3/TYPE 4/TYPE 5/TYPE 6/TYPE 7/TYPE 8
System Diagram
● Type1
SKIA4902E
● Type2
SKIA4903E
● Type3
SKIA4904E

CAN COMMUNICATION
[ABS]
● Type4
A
SKIA4905E
BRC
● Type5
K
SKIA4906E
● Type6
L
SKIA4907E

CAN COMMUNICATION
[ABS]
● Type7
SKIA4908E
● Type8
SKIA4909E

CAN COMMUNICATION
[ABS]
Input/Output Signal Chart
T: Transmit R: Receive A
Low ABS
tire actua-
Uni-
pres- Dis- Driver tor and B
Dis- fied
sure play seat elec- IPDM
Signals ECM TCM play BCM meter
warn- control control tric unit E/R
unit and A/
ing unit unit (con-
C amp.
control trol C
unit unit)
Engine speed signal T R R R R
Engine status signal T R D
Engine coolant temperature signal T R
CVT position indicator signal T R
E
Second position signal R T
Second position indicator signal T R
Engine and CVT integrated control T R BRC

signal R T
Accelerator pedal position signal T R
Closed throttle position signal T R
G
Wide open throttle position signal T R
Key switch signal T R H
Ignition switch signal T R R
P range signal T R
Stop lamp switch signal R T I
Fuel consumption monitor signal T R
CVT self-diagnosis signal R T
J
ABS operation signal R T
Air conditioner switch signal R T
A/C compressor request signal T R K
A/C compressor feedback signal T R
Blower fan motor switch signal R T
L
T T R
A/C control signal
R R T
Cooling fan speed request signal T R M
Position lights request signal T R R
Low beam request signal T R
Low beam status signal R T
High beam request signal T R R
High beam status signal R T
Front fog lights request signal T R
R R T
Vehicle speed signal
R R R R T R
Sleep request 1 signal T R
R T
Door switch signal
R R T R R R
Turn indicator signal T R

CAN COMMUNICATION
[ABS]
Low ABS
tire actua-
Uni-
pres- Dis- Driver tor and
Dis- fied
unit and A/
ing unit unit (con-
C amp.
control trol
unit unit)
Key fob ID signal T R
Key fob door unlock signal T R
Seat belt buckle switch signal R T
R T
Oil pressure switch signal
T R
Buzzer output signal T R
Fuel level sensor signal R T
Fuel level low warning signal R R T
Malfunction indicator lamp signal T R
ASCD SET lamp signal T R
ASCD CRUISE lamp signal T R
Input shaft revolution signal R T
Output shaft revolution signal R T
Front wiper request signal T R
Front wiper stop position signal R T
Rear window defogger switch signal T R
Rear window defogger control signal R R R T
Hood switch signal R T
Theft warning horn request signal T R
Horn chirp signal T R
Tire pressure signal T R
Tire pressure data signal T R R
ABS warning lamp signal R T
Brake warning lamp signal R T
System setting signal T T R
Parking brake switch signal R T

CAN COMMUNICATION
[ABS]
TYPE 9/TYPE10/TYPE 11/TYPE 12/TYPE 13/TYPE 14/TYPE 15/TYPE 16
System Diagram A
● Type9
BRC
SKIA4910E
● Type10 G
L
SKIA4911E
● Type11
M
SKIA4912E

CAN COMMUNICATION
[ABS]
● Type12
SKIA4913E
● Type13
SKIA4914E
● Type14
SKIA4915E

CAN COMMUNICATION
[ABS]
● Type15
A
SKIA4916E
BRC
● Type16
K
SKIA4917E

CAN COMMUNICATION
[ABS]
T: Transmit R: Receive
ABS
Low
actua-
tire
Uni- tor
pres- Dis- Steer- Driver
fied and
sure Dis- play ing seat
meter elec- IPDM
Signals ECM TCM warn- play con- BCM angle con-
and A/ tric E/R
ing unit trol sen- trol
C unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
Engine speed signal T R R R R R
Engine status signal T R
Engine and CVT integrated control T R

signal R T
Accelerator pedal position signal T R R
Key switch signal T R
P range signal T R R
Stop lamp switch signal R T
VDC operation signal R T
Second position indicator signal T R R
Input shaft revolution signal R T R
Output shaft revolution signal R T R
A/C compressor request signal T R
T T R
A/C control signal
R R T
Cooling fan speed request signal T R
R R T
R R R R T R

CAN COMMUNICATION
[ABS]
ABS
Low
actua- A
tire
Uni- tor
fied and
meter elec- IPDM
Signals ECM TCM warn- play con- BCM angle con- B
and A/ tric E/R
C unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
C
R T
Door switch signal
R R T R R R D
Key fob door unlock signal T R E
R T
Oil pressure switch signal BRC
T R
Fuel level sensor signal R T G
Malfunction indicator signal T R
H
Front wiper request signal T R I
J
Theft warning horn request signal T R K
Steering angle sensor signal T R
L
CVT position indicator signal T R R
M
VDC OFF indicator lamp signal R T
SLIP indicator lamp signal R T

CAN COMMUNICATION
[ABS]
CAN Communication Unit For AWD Models AFS00215
Body type Wagon

Axle AWD
Engine VQ35DE
Transmission CVT
× × × × × × × ×
system
Automatic drive positioner × × × × × × × ×
ECM × × × × × × × × × × × × × × × ×
TCM × × × × × × × × × × × × × × × ×
× × × × × × × ×
control unit
Display unit × × × × × × × ×
Data link connector × × × × × × × × × × × × × × × ×
BCM × × × × × × × × × × × × × × × ×
AWD control unit × × × × × × × × × × × × × × × ×
ABS actuator and electric
× × × × × × × × × × × × × × × ×
unit (control unit)
IPDM E/R × × × × × × × × × × × × × × × ×
BRC-20, "TYPE 17/TYPE 18/TYPE 19/TYPE 20/ BRC-26, "TYPE 25/TYPE26/TYPE 27/TYPE 28/
TYPE 21/TYPE 22/TYPE 23/TYPE 24" TYPE 29/TYPE 30/TYPE 31/TYPE 32"
×: Applicable

System Diagram
● Type17
SKIA4918E

CAN COMMUNICATION
[ABS]
● Type18
A
SKIA4919E
BRC
● Type19
K
SKIA4920E
● Type20
L
SKIA4921E

CAN COMMUNICATION
[ABS]
● Type21
SKIA4922E
● Type22
SKIA4923E
● Type23
SKIA4924E

CAN COMMUNICATION
[ABS]
● Type24
A
SKIA4925E
BRC

CAN COMMUNICATION
[ABS]
ABS
Low
actua-
tire
Uni- tor
pres- Dis- Driver
fied AWD and
sure Dis- play seat
meter con- elec- IPDM
Signals ECM TCM warn- play con- BCM con-
and A/ trol tric E/R
ing unit trol trol
C unit unit
con- unit unit
amp. (con-
trol
trol
unit
unit)
Engine speed signal T R R R R R R
P range signal T R
Stop lamp switch signal R T R
ABS operation signal R R T
T T R
A/C control signal
R R T
R R R T
R R R R T R
R T
Door switch signal
R R T R R R

CAN COMMUNICATION
[ABS]
ABS
Low
actua- A
tire
Uni- tor
pres- Dis- Driver
fied AWD and
sure Dis- play seat
Signals ECM TCM warn- play con- BCM con- B
ing unit trol trol
C unit unit
con- unit unit
amp. (con-
trol
trol
unit
unit)
C

Seat belt buckle switch signal R T D
R T
T R
Buzzer output signal T R E
BRC
ASCD CRUISE lamp signal T R G
H
Rear window defogger switch signal T R I

signal J
R T
L
M
AWD warning lamp signal R T
AWD lock indicator lamp signal R T
AWD lock switch signal T R
Parking brake switch signal R T R

CAN COMMUNICATION
[ABS]
System Diagram
● Type25
SKIA4926E
● Type26
SKIA4927E
● Type27
SKIA4928E

CAN COMMUNICATION
[ABS]
● Type28
A
SKIA4929E
BRC
● Type29
K
SKIA4930E
● Type30
L
SKIA4931E

CAN COMMUNICATION
[ABS]
● Type31
SKIA4932E
● Type32
SKIA4933E

CAN COMMUNICATION
[ABS]
ABS
Low
actu-
tire
Uni- ator B
pres- Dis- Steer Drive
fied AWD and
sure Dis- play ing r seat
and trol tric E/R
A/C unit unit C
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
D
signal R T
Second position signal R T E
VDC operation signal R R T
Key switch signal T R BRC
G
Second position indicator signal T R R H
I
Accelerator pedal position signal T R R R
Fuel consumption monitor signal T R J
K
A/C compressor request signal T R L
A/C compressor feedback signal T R T
T T R
M
A/C control signal
R R T
R R R T
R R R R T R

CAN COMMUNICATION
[ABS]
ABS
Low
actu-
tire
Uni- ator
fied AWD and
and trol tric E/R
A/C unit unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
R T
Door switch signal
R R T R R R
R T
T R

TROUBLE DIAGNOSIS
[ABS]
TROUBLE DIAGNOSIS PFP:00004
A
How to Perform Trouble Diagnosis for Quick and Accurate Repair AFS0018N
INTRODUCTION
● Most important point to perform diagnosis is to understand systems (control and mechanism) in vehicle B
thoroughly.
● It is also important to clarify customer complaints before inspec-

tion. C
First of all, reproduce symptom, and understand it fully.
Ask customer about his/her complaints carefully. In some cases,
it will be necessary to check symptom by driving vehicle with D
customer.
NOTE:
Customers are not professionals. Do not assume “maybe cus-
E
tomer means...” or “maybe customer mentioned this symptom”.
EFJ0028D
BRC
● It is essential to check symptoms right from beginning in order to
repair a malfunction completely.
For an intermittent malfunction, it is important to reproduce G
symptom based on interview with customer and past examples.
Do not perform inspection on ad hoc basis. Most intermittent
malfunctions are caused by poor contacts. In this case, it will be
effective to shake suspected harness or connector by hand. H
When repairs are performed without any symptom check, no
one can judge if malfunction has actually been eliminated.
● After diagnosis, make sure to carry out “erase memory”. Refer to I
BRC-43, "Operation Procedure" . SEF233G
● For an intermittent malfunction, move harness or harness con-

nector by hand to check poor contact or false open circuit. J
● Always read “GI General Information” to confirm general precautions. Refer to GI-4, "General Precau-
tions" .
K

TROUBLE DIAGNOSIS
[ABS]
DIAGNOSIS FLOWCHART
LFIA0175E

TROUBLE DIAGNOSIS
[ABS]
ASKING COMPLAINTS
● Complaints against malfunction vary depending on each person. A
It is important to clarify customer complaints.
● Ask customer about what symptoms are present and under
what conditions. Use information to reproduce symptom while B
driving.
● It is also important to use the diagnosis sheet so as not to miss
information. C
SBR339B
D
EXAMPLE OF DIAGNOSIS SHEET

E
BRC
LFIA0176E

TROUBLE DIAGNOSIS
[ABS]
Component Installation Location AFS0018O
PFIA0425E

TROUBLE DIAGNOSIS
[ABS]
Schematic — ABS — AFS0018P
BRC
TFWA0060E

TROUBLE DIAGNOSIS
[ABS]
Wiring Diagram — ABS — AFS0018Q
TFWA0061E

TROUBLE DIAGNOSIS
[ABS]
BRC
TFWA0062E

TROUBLE DIAGNOSIS
[ABS]
TFWA0063E

TROUBLE DIAGNOSIS
[ABS]
BRC
TFWA0064E

TROUBLE DIAGNOSIS
[ABS]
Control Unit Input/Output Signal Standard AFS0018R
REFERENCE VALUE FROM CONSULT-II

CAUTION:
The display shows control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short - circuited.
Data monitor
Note: Error inspection
Monitor item Display content Reference value in
Condition checklist
normal operation
Vehicle stopped 0 [km/h (MPH)]
FR RH SENSOR
FR LH SENSOR Almost in accor- BRC-51, "Inspection 1
Wheel speed dance with speed-
RR RH SENSOR Vehicle running (Note 1) Wheel Sensor System"
RR LH SENSOR ometer display
(within ±10 %)
BRC-57, "Inspection 6
Battery voltage sup-
ABS Actuator and Elec-
plied to ABS actuator
BATTERY VOLT Ignition switch ON 10 - 16 V tric Unit (Control Unit)
and electric unit (con-
Power Supply and
trol unit)
Ground Circuit"
Brake pedal depressed ON
STOP LAMP SW Brake pedal operation –
Brake pedal not depressed OFF
ABS warning lamp ON ABS warning lamp ON ON

ABS WARN LAMP –
condition (Note 2) ABS warning lamp OFF OFF
Ignition switch ON or engine
OFF BRC-56, "Inspection 5
Operation status of running (ABS not operated)
MOTOR RELAY Actuator Motor, Motor
motor and motor relay Ignition switch ON or engine
ON Relay, and Circuit"
running (ABS operated)
Vehicle stopped (Ignition
Actuator relay opera- switch ON)
ACTUATOR RLY Actuator Motor, Motor
tion status Vehicle stopped (Engine run-
ning)
FR LH IN SOL Actuator (solenoid) is active
FR LH OUT SOL (“ACTIVE TEST” with CON-
ON
FR RH IN SOL SULT-II) or actuator relay is
FR RH OUT SOL Solenoid valve opera- inactive (in fail-safe mode). BRC-55, "Inspection 3
RR RH IN SOL tion Solenoid Valve System"
RR RH OUT SOL When actuator (solenoid) is
RR LH IN SOL not active and actuator relay is OFF
RR LH OUT SOL active (ignition switch ON).
ABS fail
ON
ABS FAIL SIG EBD fail ABS system
Fail signal status
EBD FAIL SIG EBD normal EBD system
OFF
ABS normal
Longitudinal accelera- Vehicle stopped Approx. 0G
BRC-59, "Inspection 7 G
DECEL G-SEN tion detected by Decel
Vehicle running -1.7 - +1.7G Sensor System"
G-Sensor
Brake warning lamp on Brake warning lamp ON ON

EBD WARN LAMP
condition (Note 3) Brake warning lamp OFF OFF
EBD active ON
EBD SIGNAL EBD operation
EBD not active OFF
–
ABS active ON
ABS SIGNAL ABS operation
ABS not active OFF
Cranking ON
CRANKING SIG CRANKING status
Not cranking OFF
Note 1: Confirm tire pressure is normal.

TROUBLE DIAGNOSIS
[ABS]
Note 2: ON/OFF timing of ABS warning lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected. A
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation).
Note3: Serves as EBD warning lamp.
CONSULT- II Functions AFS0018S B

CONSULT-II MAIN FUNCTION
In a diagnosis function (main function), there are “SELF-DIAGNOSTIC RESULTS”, “DATA MONITOR”, “CAN
DIAG SUPPORT MNTR”, “ACTIVE TEST”, “FUNCTION TEST”, “ECU PART NUMBER”. C
Diagnostic
Function Reference
test mode
SELF-DIAG- D
NOSTIC Self-diagnostic results can be read and erased quickly. BRC-43, "SELF-DIAGNOSIS"
RESULTS
DATA MONI- E
Input/Output data in the ABS actuator and electric unit (control unit) can be read. BRC-45, "DATA MONITOR"
TOR
CAN DIAG
SUPPORT The results of transmit/receive diagnosis of communication can be read. —
MNTR
BRC
Diagnostic Test Mode in which CONSULT-II drives some actuators apart from the
ACTIVE TEST ABS actuator and electric unit (control unit) and also shifts some parameters in a BRC-47, "ACTIVE TEST"
specified range. G
FUNCTION Conducted by CONSULT-II instead of a technician to determine whether each sys-
—
TEST tem is “OK” or “NG”.
ECU PART H
ABS actuator and electric unit (control unit) part number can be read. —
NUMBER
CONSULT-II BASIC OPERATION PROCEDURE

I
1. Turn ignition switch OFF.
2. Connect CONSULT-II and CONSULT-II CONVERTER to data
link connector.
J
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II
CONVERTER, malfunctions might be detected in self-diag-
nosis depending on control unit which carry out CAN com- K
munication.
3. Turn ignition switch ON.
L
PBIB1300E
M
4. Touch “START (NISSAN BASED VHCL)”.
SKIA3098E
5. Touch “ABS” in “SELECT SYSTEM” screen.

TROUBLE DIAGNOSIS
[ABS]
If “ABS” is not indicated, go to GI-38, "CONSULT-II Data Link
Connector (DLC) Circuit" .
PKIA2102E
6. Select required diagnostic location from “SELECT DIAG MODE”

screen.
SFIA2435E

TROUBLE DIAGNOSIS
[ABS]
SELF-DIAGNOSIS
Description A
If an error is detected in system, ABS warning lamp on combination meter turn on. In this case, perform self-
diagnosis as follows.
B
Operation Procedure
2. Connect CONSULT-II and CONSULT-II CONVERTER to data link connector. C
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be
detected in self-diagnosis depending on control unit which performs CAN communication.
D
4. Start engine and drive at approximately 30 km/h (19 MPH) for approximately 1 minute.
E
5. After stopping vehicle, with engine running at idle speed, touch “START (NISSAN BASED VHCL)”, “ABS”,
“SELF-DIAG RESULTS” in order on CONSULT-II screen.
If “ABS” is not indicated, go to GI-38, "CONSULT-II Data Link Connector (DLC) Circuit" .
CAUTION: BRC
● If there is no error during CONSULT-II use, ABS warning lamp may be turned ON/OFF.
● If “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on
ignition switch, “ABS” might not be displayed in System Selection screen. In this case, repeat G
operation from step 1. If it connect be shown after several attempts, ABS actuator and electric
unit (control unit) may have malfunction. Repair or replace control unit.
6. The self-diagnostic results are displayed. (If necessary, self-diagnostic results can be printed out by touch- H
ing “PRINT”.)
● When “NO FAILURE” is displayed, check ABS warning lamp.
7. Conduct appropriate inspection from the display item list, and repair or replace malfunctioning component. I
CAUTION:
● When a wheel sensor “short-circuit” is detected, if vehicle is not driven at 30 km/h (19 MPH) J
for at least 1 minute, ABS warning lamp will not turn off even if everything is normal.
● Check again to make sure that there is no malfunction on other parts.
9. Turn ignition switch OFF to prepare for erasing the memory. K

10. Start engine and touch “START (NISSAN BASED VHCL)”, “ABS”, “SELF-DIAG RESULTS”, “ERASE
MEMORY” in order on CONSULT-II screen to erase the error memory.
CAUTION: L
If the error memory is not erased, re-conduct the operation from step 5 again.
11. For final inspection, drive at approximately 30 km/h (19 MPH) for approximately 1 minute and confirm that
ABS warning lamp turn OFF. M

TROUBLE DIAGNOSIS
[ABS]
Display Item List
Self-diagnostic item Malfunction detecting condition Check system
FR LH SENSOR-1 Circuit of front LH wheel sensor is open, or shorted or sensor
[C1104] power voltage is unusual.
RR RH SENSOR-1 Circuit of rear RH wheel sensor is open, or shorted or sensor
FR RH SENSOR-1 Circuit of front RH wheel sensor is open, or shorted or sensor
RR LH SENSOR-1 Circuit of rear LH wheel sensor is open, or shorted or sensor
ABS actuator and electric unit (control unit) cannot identify sen- BRC-51, "Inspection 1
FR LH SENSOR-2
sor pulses, because of large gap between wheel sensor and sen- Wheel Sensor System"
[C1108]
sor rotor. (Note 1)
ABS actuator and electric unit (control unit) cannot identify sen-
RR RH SENSOR-2
sor pulses, because of large gap between wheel sensor and sen-
[C1105]
sor rotor.
FR RH SENSOR-2
[C1107]
sor rotor.
RR LH SENSOR-2
[C1106]
sor rotor.
FR LH IN ABS SOL Circuit of front LH IN ABS solenoid is open or shorted, or control
[C1120] line is open or shorted to power supply or ground.
FR LH OUT ABS SOL Circuit of front LH OUT ABS solenoid is open or shorted, or con-
[C1121] trol line is open or shorted to power supply or ground.
RR RH IN ABS SOL Circuit of rear RH IN ABS solenoid is open or shorted, or control
RR RH OUT ABS SOL Circuit of rear RH OUT ABS solenoid is open or shorted, or con-
[C1127] trol line is open or shorted to power supply or ground. BRC-55, "Inspection 3
FR RH IN ABS SOL Circuit of front RH IN ABS solenoid is open or shorted, or control Solenoid Valve System"
FR RH OUT ABS SOL Circuit of front RH OUT ABS solenoid is open or shorted, or con-
RR LH IN ABS SOL Circuit of rear LH IN ABS solenoid is open or shorted, or control
RR LH OUT ABS SOL Circuit of rear LH OUT ABS solenoid is open or shorted, or con-
During actuator motor operation with ON, when actuator motor
turns OFF or when control line for actuator motor relay is open. BRC-56, "Inspection 5
PUMP MOTOR (Note 2)
Actuator Motor, Motor
[C1111] During actuator motor operation with OFF, when actuator motor Relay, and Circuit"
turns ON or when control line for relay is shorted to ground.
ABS SENSOR BRC-51, "Inspection 1
[MALFUNCTION SIGNAL] Wheel sensor input is malfunction. Wheel Sensor System"
[C1115] (Note 1)
BATTERY VOLTAGE ABS Actuator and Elec-
ABS actuator and electric unit (control unit) power voltage is too
[MALFUNCTION] tric Unit (Control Unit)
low.
[C1109] Power Supply and
Ground Circuit"
CONTROLLER FAILURE Internal malfunction of ABS actuator and electric unit (control
[C1110] unit)
tric Unit (Control Unit)"
G - SENSOR Decel G- sensor is malfunctioning, or signal line of Decel G- sen- BRC-59, "Inspection 7 G
[C1113] (Only AWD model) sor is open or shorted. Sensor System"

TROUBLE DIAGNOSIS
[ABS]
A
● CAN communication line is open or shorted.
● ABS actuator and electric unit (control unit) internal malfunc- BRC-56, "Inspection 4
CAN COMM CIRCUIT
tion CAN Communication
[U1000] B
● Battery voltage for EMC is suddenly interrupted for approxi- Lines" (Note 2)
mately 0.5 seconds or more.
● Actuator solenoid valve relay is ON, even if control unit sends
ACTUATOR RLY off signal. C
–
[C1140] ● Actuator solenoid valve relay is OFF, even if control unit sends
on signal.
D
Note 1: After completing repairs of shorted sensor circuit, when ignition switch is turned ON, ABS warning
lamp turns on. Check that ABS warning lamp turns off while driving vehicle at approximately 30 km/h (19
MPH) for approximately 1 minute according to self-diagnosis procedure. In addition, if wheel sensor 2 is dis-
played for wheels, check wheel sensor circuit and also check control unit power voltage. E
Note 2: When errors are detected in several systems, including CAN communication system [U1000], trouble-
shoot CAN communication system.
DATA MONITOR BRC
Operation Procedure
1. Touch “ABS”, “DATA MONITOR” in order on CONSULT-II screen.
If “ABS” is not indicated, go to GI-38, "CONSULT-II Data Link Connector (DLC) Circuit" . G
CAUTION:
When “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on
ignition switch, “ABS” might not be displayed in system selection screen. In this case, repeat the H
operation from step 2.
2. Return to Monitor Item Selection screen, and touch “ECU INPUT SIGNALS”, “MAIN SIGNALS” or
“SELECTION FROM MENU”. Refer to following information. I
3. When “START” is touched, data monitor screen is displayed.
Display Item List
J
monitor item selection
Monitor item ECU INPUT MAIN SELECTION Remarks
SIGNALS SIGNALS FROM MENU
K
Wheel speed calculated by front
FR RH SENSOR
× × × RH wheel sensor signal is dis-
(km/h, MPH)
played.
L
FR LH SENSOR
× × × LH wheel sensor signal is dis-
(km/h, MPH)
played.
Wheel speed calculated by rear M
RR RH SENSOR
(km/h, MPH)
played.
RR LH SENSOR Wheel speed calculated by real LH
× × ×
(km/h, MPH) sensor signal is displayed.
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is
(V)
displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
(ON/OFF) is displayed.
ABS WARN LAMP ABS warning lamp (ON/OFF) sta-
– × ×
(ON/OFF) tus is displayed.
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×

TROUBLE DIAGNOSIS
[ABS]
monitor item selection
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/
– × ×
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
(ON/OFF) status is displayed.
ACTUATOR RLY ABS actuator relay signal (ON/
– × ×
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
DECEL G SEN Decel acceleration detected by
× × ×
(G) (Only AWD model) Decel G-sensor is displayed.
EBD WARN LAMP Brake warning lamp (ON/OFF)
– – ×
(ON/OFF) status is displayed. (Note)
CRANKING SIG Cranking condition (ON/OFF) sta-
– – ×
×: Applicable
–: Not applicable
NOTE:
Serves as EBD warning lamp.

TROUBLE DIAGNOSIS
[ABS]
ACTIVE TEST
CAUTION: A
● Do not perform active test while driving vehicle.
● Make sure to completely bleed air from brake system.
● Active test cannot be performed when ABS warning lamp is on. B
● ABS and Brake Warming lamps turn on during active test.
Operation Procedure C
1. Touch “ABS”.
If “ABS” is not indicated, go to GI-38, "CONSULT-II Data Link Connector (DLC) Circuit"
2. Touch “ACTIVE TEST”. D
3. Test item selection screen is displayed.
4. Touch necessary test item.
E
BRC
G
LBR379
5. With “SELECT TEST SIGNALS” display shown in reverse, touch “START”.

H
6. “ACTIVE TEST” screen will be displayed, so conduct following test.
Test Item
Solenoid valve I
CAUTION:
The example shown is for the front right wheel. The procedure for the other wheels is the same as
given below. J
1. For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN”.
Then use screen monitor to check that solenoid valve operates
as shown in Solenoid Valve Operation Chart. Refer to “Solenoid K
Valve Operation Chart”.
M
SFIA0678E

TROUBLE DIAGNOSIS
[ABS]
Solenoid Valve Operation Chart
ABS solenoid valve
Operation
UP KEEP DOWN
FR RH IN SOL OFF ON ON
FR RH OUT SOL OFF OFF ON*
FR LH IN SOL OFF ON ON
FR LH OUT SOL OFF OFF ON*
RR RH IN SOL OFF ON ON
RR RH OUT SOL OFF OFF ON*
RR LH IN SOL OFF ON ON
RR LH OUT SOL OFF OFF ON*
*: ON for 1 to 2 seconds after the touch, and then OFF
NOTE:
● When active test is performed while depressing pedal, pedal depression amount will change, but this is
normal.
● Approximately 10 seconds after operation is begun, “TEST STOP” will be displayed.
● To perform retest after “TEST STOP” is displayed, touch “BACK” and conduct the test from Step 6.
ABS Motor
Touch “ON”, “OFF” on display screen and make sure ABS motor
relay is operating as shown in table below.
Operation ON OFF
ABS motor relay ON OFF
ABS actuator relay ON ON
NOTE:
● When active test is performed while depressing pedal, pedal
depression amount will change, but this is normal.
● Approximately 10 seconds after operation has begun, “TEST SFIA0593E
STOP” will be displayed.

● To perform a retest after “TEST STOP” is displayed, touch “BACK” and perform test from step 6.

TROUBLE DIAGNOSIS
[ABS]
For Fast and Accurate Diagnosis AFS0018T
PRECAUTIONS FOR DIAGNOSIS A

● Before performing trouble diagnosis, always read general information (GI) to confirm general precautions.
Refer to GI-4, "General Precautions" .
● After completing service, always erase self-diagnosis results. Refer to BRC-41, "CONSULT- II Functions" B
.
● When inspection of continuity or voltage between units is performed, check connector terminals for dis-
connection, looseness, bends, or collapses. If any non-standard condition is detected, repair or replace C
applicable part.
● Intermittent errors may be caused by a poor connection in harness, connector, or terminal. Move har-
nesses, harness connectors, or terminals by hand to make sure all connections are solid and undamaged. D
● If a circuit tester is used for check, be careful not to forcibly extend any connector terminal.
● ABS is a system that uses electronic control to perform brake control. Therefore, phenomena like those
shown in the following table may occur, but this is because system is working normally. E
● To use CONSULT-II to perform self-diagnosis of ABS actuator and electric unit (control unit), active tests,
or work support, first stop work, then connect CONSULT-II and select “ABS”.
● When CONSULT-II issued, ABS warning lamp may be ON/OFF. BRC
Symptom Symptom description Result

This is the noise of motor operating inside ABS actuator and electric unit G
(control unit). Slight noise may occur during ABS operation.
Motor operation noise Normal
Just after the engine starts, the motor operating noise may be heard.
This is a normal status of the system operation check.
H
When the engine is started, you may barely be able to hear a slight
System operation check
thudding sound from the engine room, but this sound is made by the Normal
noise
system operation check and is normal.
I
Stopping distance may be longer for vehicles with ABS when the vehicle
ABS operation (longer stop-
drives on rough or snow-covered roads. Use lower speeds when driving Normal
ping distance)
on these kinds of roads.
J
ON and OFF Timing for ABS Warning Lamp
×: ON –: OFF
Condition ABS warning lamp Remarks K
Ignition switch OFF – —
For approximately “2” second after ignition switch
× — L
is turned ON.
After approximately “2” second after ignition Turns OFF 2 second after ignition SW is turned
–
switch ON. (When system is normal) ON.
When there is an ABS actuator and electric unit M
ABS error ×
(control unit) error (power or ground malfunction)

TROUBLE DIAGNOSIS
[ABS]
Basic Inspection AFS0018U
BASIC INSPECTION 1 BRAKE FLUID LEVEL, LEAKS, AND BRAKE PADS

1. Check fluid level in the brake reservoir tank. If fluid level is low, refill brake fluid.
2. Check brake piping and around ABS actuator and electric unit (control unit) for leaks. If leakage or seep-
age is found, check the following items.
● If ABS actuator and electric unit (control unit) connection is loose, tighten piping to the specified torque
and re-conduct the leak inspection to make sure there are no leakage.
● If there is damage to the connection flare nut or ABS actuator and electric unit (control unit) screw,
replace the damaged part and re-conduct the leak inspection to make sure there are no leakage.
● If there is leakage or seepage at any location other than ABS actuator and electric unit (control unit)
connection, wipe away leakage or seepage with clean cloth. Then inspect again and confirm than there
is on leakage.
● if there is leakage from ABS actuator and electric unit (control unit), wipe away leakage or seepage with
clean cloth. Then inspect again. If there is leakage or seepage, replace ABS actuator and electric unit
(control unit).
CAUTION:
ABS actuator and electric unit (control unit) body cannot be disassembled.
3. Check the brake disc rotor and pads. Refer to BR-28, "Removal and Installation of Brake Pad" in “Front
Disc Brake” and BR-34, "Removal and Installation of Brake Pad" in “Rear Disc Brake”.
BASIC INSPECTION 2 POWER SYSTEM TERMINAL LOOSENESS AND BATTERY INSPECTION
Make sure battery positive cable, negative cable and ground connection are not loose. If looseness is
detected, tighten the piping to the specified torquer. In addition, check the battery voltage to make sure it has
not dropped and alternator is normal.
BASIC INSPECTION 3 ABS WARNING LAMP INSPECTION
1. Check that ABS warning lamp turned on approximately 2 second when ignition switch is turned ON.
Check CAN communications. Refer to BRC-56, "Inspection 4 CAN Communication Lines" . If there are no
errors with CAN communication system, check ABS warning lamp and combination meter. Refer to DI-4,
"COMBINATION METERS" .
2. Check that ABS warning lamp turned OFF approximately 2 second after ignition switch is turned on. If
ABS warning lamp does not turn OFF, perform self-diagnosis.
3. Check that ABS warning lamp turns OFF 2 seconds after engine is started. If ABS warning lamp has not
turned OFF 10 seconds after engine has been started, perform self-diagnosis of ABS actuator and electric
unit (control unit).
4. After performing self-diagnosis, be sure to erase the error memory. Refer to BRC-41, "CONSULT- II Func-
tions" .

TROUBLE DIAGNOSIS
[ABS]
Inspection 1 Wheel Sensor System AFS001ZE
A
After using CONSULT-II SELF-DIAG RESULTS to determine position of malfunctioning wheel sensor, check
all areas to determine the component to be replaced.
CAUTION:
● Do not measure resistance value and also voltage between sensor terminal with tester etc., B
because sensor is an active sensor.
● Do not expand terminal of connector with a tester terminal stick, when it does inspection with
tester. C
INSPECTION PROCEDURE
1. CHECK SELF-DIAGNOSIS RESULT D
Check self-diagnosis results.
Self-diagnosis results E
FR RH SENSOR-1,-2
FR LH SENSOR- 1,-2
BRC
RR RH SENSOR-1,-2
RR LH SENSOR-1,- 2
ABS SENSOR G
Is above displayed in self-diagnosis display items?
SFIA0625E
YES >> GO TO 2.
NO >> Inspection END H
2. CHECK CONNECTOR
I
1. Disconnect ABS actuator and electric unit (control unit) connector E24 and malfunctioning wheel sensor
connector E20 (FR - LH) or E27 (FR - RH) or B202 (RR - LH), B203 (RR - RH). Check terminal to see if it
is deformed, disconnected, loose, etc., and repair or replace it if any malfunction condition is found.
2. Reconnect connectors and check that interference with other parts has not cut wheel sensor cables, drive J
vehicle at a speed of 30 km/h (19 MPH) or above for at least 1minute, and perform self-diagnosis.
OK or NG
OK >> Connector terminal contact is loose, damaged, open or shorted. K
NG >> GO TO 3.

TROUBLE DIAGNOSIS
[ABS]
3. CHECK WHEEL SENSOR HARNESS
1. Turn ignition switch OFF and disconnect wheel sensor connec-
tor E20 (FR - LH), E27 (FR - RH), B202 (RR - LH), B203 (RR -
RH) and ABS actuator and electric unit (control unit) connector
E24.
2. Check continuity between terminals. (Also check continuity
when steering wheel is turned right and left and when sensor
harness inside wheel well is moved.)
PFIA0426E
Power system Signal system Ground system

ABS actuator
ABS actuator ABS actuator ABS actuator
and electric unit
Wheel and electric unit Wheel sensor and electric unit Wheel sensor and electric unit
(control unit)
(control unit) (control unit) (control unit)
(Ground)
Front RH 34 (B) 1 (B) 33 (W) 2 (W) 33 (W), 34 (B)
Front LH 45 (G) 1 (G) 46 (R) 2 (R) 45 (G), 46 (R)
16 (B), 47 (B)
Rear RH 43 (LG) 1 (LG) 42 (V) 2 (V) 43 (LG), 42 (V)
Rear LH 36 (L) 1 (L) 37 (P) 2 (P) 36 (L), 37 (P)
Power system : Continuity should exist.

Signal system : Continuity should exist.
Ground system : Continuity should not exist.
OK or NG
OK >> GO TO 4.
NG >> Repair harness and connector between ABS actuator and electric unit (control unit) and wheel
sensor.
4. CHECK TIRE
Check air pressure, wear, and size.
Are air pressure, wear, and size within the standard values?
YES >> GO TO 5.
NO >> Adjust air pressure, or replace tire.
5. CHECK SENSOR AND SENSOR ROTOR

● Check condition of sensor mount (for looseness, etc.).
● Check surface of front sensor rotor rubber for damage.
● Check rear sensor rotor for damage.
OK or NG
OK >> GO TO 6.
NG >> Repair or replace the malfunctioning component.

TROUBLE DIAGNOSIS
[ABS]
6. CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT A
1. Connect wheel sensor connector E20 (FR - LH), E27 (FR - RH),
B202 (RR - LH), B203 (RR - RH) and ABS actuator and electric
unit (control unit) connector E24. B
2. Turn ignition switch ON and check voltage between power sup-
ply terminal and ground.
Voltage C
Front RH 1 (B) - Ground : 8 V or more
Front LH 1 (G) - Ground : 8 V or more
D
Rear RH 1 (LG) - Ground : 8 V or more
PFIA0427E
Rear LH 1 (L) - Ground : 8 V or more

E
OK or NG
OK >> Replace wheel sensor.
NG >> Replace ABS actuator and electric unit (control unit). BRC

TROUBLE DIAGNOSIS
[ABS]
Inspection 2 ABS Actuator and Electric Unit (Control Unit) AFS0018X
1. CHECK SELF-DIAGNOSIS RESULT
Self-diagnosis results
CONTROLLER FAILURE

YES >> Replace ABS actuator and electric unit (control unit). Re-conduct ABS actuator and electric unit
(control unit) self-diagnosis.
NO >> Inspection END

TROUBLE DIAGNOSIS
[ABS]
Inspection 3 Solenoid Valve System AFS0018Z
A
B
FR LH IN ABS SOL C
FR LH OUT ABS SOL
RR RH IN ABS SOL
D
RR RH OUT ABS SOL
FR RH IN ABS SOL
FR RH OUT ABS SOL E
RR LH IN ABS SOL
RR LH OUT ABS SOL
BRC
Is above displayed in self-diagnosis item?
YES >> GO TO 2.
G
2. CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E24, check terminal for is deformation, H
disconnection, looseness, etc., and if there is any malfunction, repair or replace terminal.
2. Securely reconnect connector and perform self-diagnosis.
OK or NG I
OK >> Connector terminal contact is loose, damaged, open or shorted.
NG >> GO TO 3.
J
3. CHECK ABS ACTUATOR RELAY OR ABS MOTOR RELAY POWER SUPPLY CIRCUIT
1. Disconnect ABS actuator and electric unit (control unit) connector E24.
K
2. Check voltage between ABS actuator and electric unit (control
unit) harness connector E24.
PFIA0428E
ABS actuator and electric unit

Ground Voltage
(Control unit)
1 (G/R) — Battery voltage (approx. 12 V)
32 (R/B) — Battery voltage (approx. 12 V)
OK or NG
OK >> GO TO 4
NG >> Circuit malfunction between battery and ABS actuator and electric unit (control unit). Repair the
circuit.

TROUBLE DIAGNOSIS
[ABS]
4. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT
Check ABS actuator and electric unit (control unit) ground circuit.
LFIA0152E

Ground Continuity
(Control unit)
16 (B), 47 (B) — Yes
OK or NG
OK >> Perform self-diagnosis again. If the same results appear, replace ABS actuator and electric unit
(control unit).
NG >> Open or short in harness. Repair or replace harness.
Inspection 4 CAN Communication Lines AFS002QS
1. CHECK CONNECTOR
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector E24, and
check the terminal for deformation, disconnection, looseness, and so on. If there is a malfunction, repair
or replace the terminal.
2. Reconnect connector to perform self-diagnosis.
Is “CAN COMM CIRCUIT” displayed in the self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to LAN-10, "Precautions When Using CONSULT-II" .
NO >> Connector terminal connector is loose, damaged, open, or shorted.
Inspection 5 Actuator Motor, Motor Relay, and Circuit AFS001ZF
1. CHECK SELF-DIAGNOSIS RESULT (1)
PUMP MOTOR
ACTUATOR RLY
YES >> GO TO 2.

1. Disconnect ABS actuator and electric unit (control unit) connector E24. Then reconnect it securely.
2. Preform self-diagnosis again.
DO any self-diagnosis items appear?
YES >> GO TO 3
NO >> Poor connection. Repair or replace the applicable connector.

TROUBLE DIAGNOSIS
[ABS]
3. CHECKING ABS MOTOR AND MOTOR RELAY POWER SYSTEM A
1. Disconnect ABS actuator and electric unit (control unit) connector.
2. Check voltage between ABS actuator and electric (control unit)
unit connector E24 and body ground. B
ABS actuator and electric Voltage (V)

Body ground
unit (control unit) (Approx.)
C
1 (G/R), 32(R/B) – 12 V
PFIA0455E
E
3. Check resistance between ABS actuator and electric unit (con-
trol unit) connector E24 and ground.
BRC
ABS actuator and electric Resistance value (Ω)
Body ground
16 (B), 47 (B) – 0Ω
G
OK or NG
OK >> Perform self-diagnosis again. If the same result
appears, replace ABS actuator and electric unit (control H
unit). Refer to BRC-66, "ACTUATOR AND ELECTRIC
UNIT (ASSEMBLY)" . PFIA0456E
NG >> Repair harness or connectors.

I
Inspection 6 ABS Actuator and Electric Unit (Control Unit) Power Supply and
Ground Circuit AFS001ZG
INSPECTION PROCEDURE J
Check self-diagnosis results. K
BATTERY VOLTAGE L
Dose “BATTERY VOLTAGE” appear in self-diagnosis results display?
YES >> GO TO 2.
NO >> Inspection END M

2. Preform self-diagnosis again.
Do any self-diagnosis items appear?
YES >> GO TO 3
NO >> Poor connection. Repair or replace the applicable connector.

TROUBLE DIAGNOSIS
[ABS]
3. CHECK ABS MOTOR AND MOTOR RELAY POWER SYSTEM
1. Disconnect ABS actuator and electric unit (control unit) connector.
unit) connector E24 and body ground.
Body ground
1(G/R),32 (R/B) – 12 V
PFIA0455E
OK or NG
OK >> GO TO 4.
NG >> GO TO 5.
4. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUITS
Check resistance between ABS actuator and electric unit (control
unit) connector E24 and ground.
ABS actuator and electric Resistance value (Ω)
Body ground
16 (B), 47 (B) – 0Ω
OK or NG
OK >> Perform ABS actuator and electric unit (control unit) self-
diagnosis again.
PFIA0456E
5. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SYSTEM
1. Check fuse.
2. Check continuity between battery positive terminal and ABS
actuator and electric unit (control unit) connector E24.
Battery positive terminal Continuity
unit (control unit)
1 (G/R), 32 (R/B) – YES
OK or NG
OK >> Check for non-standard condition in battery (terminal
looseness, low voltage, etc.) and alternator.
NG >> ● Replace fuse.
PFIA0457E
● Open or short in harness.

TROUBLE DIAGNOSIS
[ABS]
Inspection 7 G Sensor System AFS001ZH
A
B
G-SENSOR C
YES >> GO TO 2.
NO >> Inspection END D
2. CHECK G SENSOR
E
Use “Data Monitor” to check if the G sensor are normal.
Vehicle status G sensor (Data monitor standard)
When stopped –0.11 G to +0.11 G BRC
Speed up Negative value
Speed down Positive value
G
OK or NG
OK >> Inspects End
NG >> Replace ABS actuator and electric unit (control unit) and then re-conduct ABS actuator and elec- H
tric unit (control unit) self-diagnosis.

TROUBLE DIAGNOSIS
[ABS]
Symptom 1 Excessive ABS Function Operation Frequency AFS00193
1. CHECK WHEEL SENSOR

Check Wheel Sensor
● Sensor mount and damage inspection
● Sensor rotor mount and damage inspection
● Sensor connector connection inspection
● Sensor harness inspection
OK or NG
OK >> GO TO 2.
NG >> Sensor or sensor rotor replacement
2. CHECK FRONT AND REAR AXLE

Make sure there is no excessive play in the front and rear axles.
OK or NG
OK >> Refer to Symptom 2
NG >> Repair.
3. CHECK ABS WARNING LAMP DISPLAY

Make sure the ABS warning lamp turns off approximately 2 second after the ignition switch is turned on or
when driving.
OK or NG
OK >> Normal
NG >> Perform self-diagnosis. Refer to BRC-43, "SELF-DIAGNOSIS" .
Symptom 2 Unexpected Pedal Action AFS001ZI
1. CHECK BRAKE PEDAL STROKE

Check brake pedal stroke.
Is the stroke too long?
YES >> ● Bleed air from the brake piping.
● Check the brake pedal, brake booster, and master cylinder mount for play, looseness, and
brake system for fluid leaks, etc. If any malfunctions are found, make repair.
NO >> GO TO 2.
2. CHECK PEDAL FORCE

Check that brake is effective with pedal depressed.
Is pedal heavy but affective?
YES >> Normal
NO >> GO TO 3
3. CHECK PERFORMANCE
Disconnect ABS actuator and electric unit (control unit) connector E24 and make sure the braking force us
sufficient when ABS in not operating. After the inspection, reconnect connector.
OK or NG
OK >> GO TO 4.
NG >> Check brake system.

TROUBLE DIAGNOSIS
[ABS]
4. CHECK ABS WARNING LAMP DISPLAY A
Make sure the warning lamp turns OFF approximately 2 sec. After the ignition switch is turned ON or when
driving.
OK or NG B
OK >> Normal
NG >> GO TO 5
C
Wheel Sensor Inspection
D
● Sensor connector connection inspection E
OK or NG
OK >> Normal BRC
Symptom 3 Long Stopping Distance AFS001ZJ
G
CAUTION:
On slippery road surfaces, the stopping distance might be longer with ABS operating than when ABS
is not operating.
H
Disconnect ABS actuator and electric unit (control unit) connector E24 to deactivate ABS. In this condition,
check stopping distance. After inspection, connect connector. I
Is stopping distance still long?
J
● Check brake system.
NO >> GO TO 2.
2. CHECK ABS WARNING LAMP DISPLAY K
Make sure the ABS warning lamp turns OFF approximately 2 sec. After the ignition switch is turned ON or
when driving. L
OK or NG
OK >> Normal
NG >> GO TO 3 M
OK or NG
OK >> Normal

TROUBLE DIAGNOSIS
[ABS]
Symptom 4 ABS Function Dose Not Operate AFS001ZK
CAUTION:
ABS does not operate when the speed is 10 km/h (6 MPH) or less.
Make sure the ABS warning lamp turns off approximately 2 second after the ignition switch is turned on or
when driving.
OK or NG
OK >> GO TO 2.
NG >> Perform self-diagnosis. Refer to BRC-41, "CONSULT- II Functions" .

OK or NG
OK >> Normal
Symptom 5 Pedal Vibration or ABS Operation Sound Occurs AFS001ZL
CAUTION:
Under the following conditions, when brake pedal is lightly depressed (just place a foot on it), ABS is
activated and vibration is felt. However, this is normal.
● When shifting gears
● When driving on slippery road
● During cornering at high speed
● When passing over bumps or grooves.
● When driving just after starting engine (at approximately 10 km/h (6MPH) or higher)
1. SYMPTOM CHECK 1
Check if pedal vibration or operation sound occurs when the engine is started.
OK or NG
OK >> Perform self-diagnosis. Refer to BRC-43, "SELF-DIAGNOSIS" .
NG >> GO TO 2.
2. INSPECTION (1)
Does vibration occur during normal parking?
CAUTION:
In addition to activation for sudden braking, ABS may activate in conditions such as those listed
below.
● Roads with low surface.
● Turning at high speed.
● Passing through gusts of wind.
OK or NG
OK >> GO TO 3.
NG >> Normal

TROUBLE DIAGNOSIS
[ABS]
3. INSPECTION (2) A
Check for vibration when engine speed is increased while vehicle is stopped.
OK or NG
OK >> GO TO 4 B
NG >> ● Normal
CAUTION:
Vibration may occur when vehicle is stopped. C
4. INSPECTION (3)
D
Check for vibration when switches of electrical components are operated.
OK or NG
OK >> Check for any wireless devices, or antenna lead near control unit (including wiring). E
NG >> GO TO 5.
5. CHECK ABS WARNING LAMP INDICATION

BRC
Confirm ABS warning lamp turns on.
OK or NG
OK >> Execute self-diagnosis. G
NG >> GO TO 6.
6. CHECK WHEEL SENSORS H

Inspect wheel sensor system.
● Sensor mounting inspection.
I
● Sensor pick-up inspection for iron chips.
● Sensor connector engagement inspection.
● Inspection of wheel sensor circuit. J
OK or NG
OK >> Normal
NG >> Repair wheel sensor and sensor rotor system. K

WHEEL SENSORS
[ABS]
WHEEL SENSORS PFP:47910
Removal and Installation AFS00198
PFIA0417E
REMOVAL
Pay attention to the following when removing wheel sensor.
CAUTION:
● As much as possible, avoid rotating wheel sensor when removing it. Pull wheel sensors out with-
out pulling on sensor harness.
● Take care to avoid damaging wheel sensor edges or rotor teeth. Remove wheel sensor first before
removing front or rear wheel hub. This is to avoid damage to wheel sensor wiring and loss of sen-
sor function.
INSTALLATION
Pay attention to the following when installing wheel sensor. Tighten installation bolts and nuts to the specified
torques.
● When installing, make sure there is no foreign material such as iron chips on and in the mounting hole of
the wheel sensor. Make sure no foreign material has been caught in the sensor rotor. Remove any foreign
material and clean the mount.
● When installing wheel sensor, be sure to press rubber grommets in until they lock at locations shown
above in figure. When installed, harness must not be twisted.

SENSOR ROTOR
[ABS]
SENSOR ROTOR PFP:47970
A
REMOVAL
Front B
Sensor rotor cannot be disassembled. To replace sensor rotor, replace hub bearing assembly. Refer to FAX-5,
"FRONT WHEEL HUB AND KNUCKLE" in “FAX” section.
Rear C
Sensor rotor cannot be disassembled. To replace sensor rotor, replace hub bearing assembly. Refer to RAX-5,
"WHEEL HUB" in “RAX” section.
INSTALLATION D
Front
E
Rear
Sensor rotor cannot be disassembled. To replace sensor rotor, replace hub bearing assembly. Refer to RAX-5, BRC

ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)
[ABS]
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY) PFP:47660
Removal and Installation AFS0019A
PFIA0418E
1. To front left 2. To rear right 3. To rear left

From master cylinder secondary
4. To front right 5. 6. From master cylinder primary side
side
ABS actuator and electric unit (con-
7. 8. Harness connector
trol unit)
Pay attention to the following when removing actuator.

CAUTION:
● Before servicing, disconnect battery cables.
● To remove brake tube, use flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use flare nut wrench (commercial service tool).
● Do not remove and install actuator by holding harness.
● After work is completed, bleed air from brake piping. Refer to BR-12, "Bleeding Brake System" .

PRECAUTIONS
[VDC/TCS/ABS]
PRECAUTIONS
[VDC/TCS/ABS] PFP:00001
A
Precautions for Supplemental Restraint System (SRS) “AIR BAG” and “SEAT
BELT PRE-TENSIONER” AFS001AI
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along B
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front C
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted.
Information necessary to service the system safely is included in the SRS and SB section of this Service Man-
ual.
WARNING: D
● To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death
in the event of a collision which would result in air bag inflation, all maintenance must be per-
formed by an authorized NISSAN/INFINITI dealer. E
● Improper maintenance, including incorrect removal and installation of the SRS, can lead to per-
sonal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air
Bag Module, see the SRS section. BRC
● Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or
harness connectors.
G
Precautions for Brake System AFS001ZP
● Recommended fluid is brake fluid “DOT 3”.

H
● Do not reuse drained brake fluid.
● Be careful not to splash brake fluid on painted areas.
● To clean or wash all parts of master cylinder, disc brake caliper and wheel cylinder, use clean brake fluid. I
● Never use mineral oils such as gasoline or kerosene. They will ruin rubber parts of the hydraulic system.
● Use flare nut wrench when removing and installing brake tube.
● Always torque brake lines when installing. J
● Before working, turn ignition switch OFF and disconnect electri-
cal connectors of ABS actuator and electric unit (control unit) or
battery terminals. K
● Burnish the brake contact surfaces after refinishing or replacing
drums or rotors, after replacing pads or linings, or if a soft pedal
occurs at very low mileage. L
Refer to BR-32, "BRAKE BURNISHING PROCEDURE" .
WARNING: SBR686C
● Clean brake pads and shoes with a waste cloth, then wipe
with a dust collector. M
Precautions for Brake Control AFS001AL
● When an error is indicated by ABS or another warning lamp, collect all necessary information from cus-
tomer (what symptoms are present under what conditions) and check for simple causes before starting
diagnostic servicing. Besides electrical system inspection, check brake booster operation, brake fluid
level, and fluid leaks.
● If tire size and type are used in an improper combination, or brake pads are not Genuine NISSAN parts,
stopping distance or steering stability may deteriorate.
● If there is a radio, antenna, or antenna lead-in wire (including wiring) near control module, ABS function
may have a malfunction or error.

PRECAUTIONS
[VDC/TCS/ABS]
● If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits, and improper wiring.
● If the following components are replaced with non-genuine components or converted, the VDC OFF indi-
cator lamp and SLIP indicator lamp may turn on or the VDC system may not operate properly. Compo-
nents related to suspension (Shock Absorber, Strut, Spring, Bush, etc.), Tires, wheels (exclude specified
size), components related to brake (Pad, Rotor, Caliper, etc.), Components related to engine (Muffler,
ECM, etc.), Components related to body reinforcement (Roll bar, Tower bar, etc.).
● Driving in the condition of breakage or excessive wear of the suspension, tires or components related to
the brakes may cause the VDC OFF indicator lamp and the SLIP indicator lamp to turn on, and the VDC
system may not operate properly.
● When the TCS or VDC is activated by sudden acceleration or sudden turn, some noise may occur. The
noise is a result of the normal operation of the TCS and VDC.
● When driving on roads which have extreme slopes (such as mountainous roads) or high banks (such as
sharp carves on a freeway), the VDC may not operate normally, or the VDC warning lamp and the SLIP
indicator lamp may turn on. However, this is not a problem if normal operation can be resumed after
restarting the engine.
● Sudden turns (such as spin turns, acceleration turns), drifting, etc. When VDC function is OFF (VDC SW
ON) may cause the yaw rate/side G -sensor system indicate a problem. However this is not a problem if
normal operation can be resumed after restarting the engine.
Diagnosis Precaution AFS001AM
CAN SYSTEM
● Do not apply voltage of 7.0 V or higher to terminal to be measured.
● Maximum open terminal voltage of tester in use shall be 7.0 V or lower.
● Before checking harnesses, turn ignition switch to OFF and disconnect battery negative cable.
Precaution for Harness Repair AFS001AN
CAN SYSTEM
● Area to be repaired shall be soldered, and wrapped with a tape
(be sure that fraying of twisted wire shall be within 110 mm 4.33
in)).
PKIA0306E
● Do not make a bypass connection to repaired area. (If it is done,

branch part will be removed and characteristics of twisted wire
will be lost.)
PKIA0307E

PREPARATION
[VDC/TCS/ABS]
PREPARATION PFP:00002
A
Commercial Service Tools AFS001AP
Tool name Description

B
1. Flare nut crowfoot

a:10mm (0.39 in) / 12mm (0.47 in) Removing and installing each brake piping C
2. Torque wrench
S-NT360
D
BRC

ON-VEHICLE SERVICE
[VDC/TCS/ABS]
ON-VEHICLE SERVICE PFP:00000
Adjustment of Steering Angle Sensor Neutral Position AFS001I6
After removing/installing or replacing ABS actuator and electric unit (control unit), steering angle sensor, steer-
ing components, suspension components, or after adjusting wheel alignment, make sure to adjust neutral
position of steering angle sensor before running vehicle.
Situation Adjustment of Steering Angle Sensor Neutral Position
Removing/Installing ABS actuator and electric unit (control unit) ×
Removing/Installing steering angle sensor ×
Removing/Installing steering components ×
Removing/Installing suspension components ×
Change tires to new ones –
Tire rotation –
Adjusting wheel alignment ×
×: Required
–: Not required
CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-II.
(Adjustment cannot be done without CONSULT-II.)
1. Stop vehicle with front wheels in straight-ahead position.
2. Connect CONSULT-II and CONSUL-II CONVERTER to data link
connector on vehicle, and turn ignition switch ON (do not start
engine).
3. Touch “ABS”, “WORK SUPPORT” and “ST ANGLE SENSOR
ADJUSTMENT” on CONSULT-II screen in this order.
PBIB1300E
4. Touch “START”.
CAUTION:
Do not touch steering wheel while adjusting steering angle
sensor.
5. After approximately 10 seconds, touch “END”. (After approxi-
mately 60 seconds, it ends automatically.)
6. Turn ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to perform above operation.
7. Run vehicle with front wheels in straight-ahead position, then SFIA0371E
stop.
8. Select “DATA MONITOR”, “SELECTION FROM MENU”, and “STR ANGLE SIG” on CONSULT-II screen.
Then make sure “STR ANGLE SIG” is within 0±2.5 deg. If value is more than specification, repeat steps 3
to 7.
9. Erase memory of ABS actuator and electric unit (control unit) and ECM.
10. Turn ignition switch to OFF.

ON-VEHICLE SERVICE
[VDC/TCS/ABS]
Calibration of Decel G Sensor AFS001Z7
A
After removing/installing or replacing Yaw rate/side/decel G sensor, ABS actuator and electric unit (control
unit) make sure to Calibration of Decel G Sensor before running vehicle.
Situation Calibration of Decel G Sensor
B
Removing/Installing ABS actuator and electric unit (control unit) ×
Removing/Installing steering components –
Removing/Installing suspension components – C
Change tires to new ones –
Tire rotation –
D
Adjusting wheel alignment –
Removing/Installing Yaw rate/side/decel G sensor ×
×: Required E
–: Not required
CAUTION:
To calibrate decel G sensor, make sure to use CONSULT- II (Adjustment cannot be done without CON- BRC
SULT- II)
1. Stop vehicle with front wheels in straight-ahead position.
CAUTION: G
● Keep all tires inflated to correct pressures. Adjust the tire
pressure to the specified pressure value.
● See that there is on-load in vehicle other than the driver H
(or equivalent weight placed in drivers position).
2. Connect CONSULT- II to data link connector on vehicle, and
turn ignition switch ON (do not start engine). I
3. Touch “ABS”, “WORK SUPPORT” and “DECEL G SEN CALI-
BRATION” on CONSULT- II screen in this order. PBIB1300E
J
4. Touch “START”.
5. After approximately 10 seconds, touch “END”. (After approxi-
mately 60 seconds, it ends automatically.) K
6. Turn ignition switch OFF, then turn it ON again.
CAUTION:
Be sure to carry out above operation. L
7. Run vehicle with front wheels in straight-ahead position, then
stop.
8. Select “DATA MONITOR”, “SELECTION FROM MENU”, and M
“DECEL G SEN” on CONSULT- II screen. Then check that LFIA0171E
“DECEL G SEN” is within ±0.08G. If value is more than specifi-
cation, repeat steps 1 to 5.
9. Erase memory of ABS actuator and electric unit (control unit) and ECM.

SYSTEM DESCRIPTION
[VDC/TCS/ABS]
SYSTEM DESCRIPTION PFP:00000
System Diagram AFS00210
PFIA0463E

SYSTEM DESCRIPTION
[VDC/TCS/ABS]
System Component Parts AFS001AR
BRC
I
PFIA0419E
1. Sensor rotor (FR) 2. Wheel sensor (FR) 3. Wheel sensor (FL)

4. Sensor rotor (FL) 5. Brake booster and Master cylinder 6. ABS actuator and electric unit (con-
J
trol unit)
7. Sensor rotor (RR) 8. Wheel sensor (RR) 9. Wheel sensor (RL)
10. Sensor rotor (RL) 11. Combination meter 12. VDC OFF Switch
[Brake warning lamp, K
ABS warning lamp,
VDC OFF indicator lamp,
SLIP indictor lamp]
L
13. Yaw rate/side/decel G sensor 14. Steering Angle sensor
VDC Function AFS001AT
M
● In addition to the TCS/ABS function, the driver steering amount and brake operation amount are detected
from the steering angle sensor and pressure sensor, and the vehicle's driving status (amount of under
steering / over steering) is determined from information from the yaw rate /side/decel G sensor, wheel
sensor, etc., and this information is used to improve vehicle stability by controlling the braking and engine
power to all four wheels.
● The SLIP indicator lamp flashes to inform the driver of VDC operation.
● During VDC operation, the body and brake pedal lightly vibrate and mechanical noises may be heard.
This is normal.
● The ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp might turn on when the vehicle
is subject to strong shaking or large vibration, such as when the vehicle is on a turn table or a ship while
the engine is running or steep slope such as bank. In this case, restart the engine on a normal road, and if
the ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp turn off, there is no problem.

SYSTEM DESCRIPTION
[VDC/TCS/ABS]
TCS Function AFS001AU
● The wheel spin of the drive wheels is detected by the ABS actuator and electric unit (control unit) from the
wheel speed signals from the four wheels, so if wheel spin occurs, the drive wheel right and left brake fluid
pressure control and engine fuel cut are conducted while the throttle value is restricted to reduce the
engine torque and decrease the amount of wheel spin. In addition, the degree the throttle is opened is
controlled to achieve the optimum engine torque.
● Depending on road circumstances, the driver may have a sluggish feel. This is normal, because the opti-
mum traction has the highest priority under TCS operation.
● TCS may be activated any time the vehicle suddenly accelerates, depressing accelerator peal fully, sud-
denly downshifts, upshifts, or is driven on a road with a varying surface friction coefficient.
● During TCS operation, it informs a driver of system operation by flashing SLIP indicator lamp.
ABS Function AFS001ZQ
● The Anti-Lock Brake System is a function that detects wheel revolution while braking, and it improves
handling stability during sudden braking by electrically preventing 4 wheel lock. Maneuverability is also
improved for avoiding obstacles.
● If the electrical system breaks down, then Fail-Safe function is activated, ABS becomes inoperative, and
ABS warning lamp turns on.
EBD Function AFS001ZR
● Electronic Brake Distributor is a function that detects subtle slippages between front and rear wheels dur-
ing braking, and it improves handling stability by electronically controlling Brake Fluid Pressure which
results in reduced rear wheel slippage.
● In case of electrical system break down, Fail-Safe function is activated, EBD and ABS becomes inopera-
tive, and ABS warning lamp and brake warning lamp are turned on.
● During EBD operation, brake pedal lightly vibrates and a mechanical noise may be heard. This is normal.
● Stopping distance may be longer than that of vehicles without EBD when vehicle drives on rough, gravel,
Fail-Safe Function AFS0020Z
VDC/TCS SYSTEM
In case of Throttle Control System trouble, the VDC OFF indicator lamp and SLIP indicator lamp are turned
on, and the condition of the vehicle is the same as the condition of vehicles without VDC/TCS system. In case
of trouble to the Throttle Control System, the ABS control continues to operate normally without VDC/TCS
control.
CAUTION:
If the Fail-Safe function is activated, then perform the Self Diagnosis for VDC/TCS/ABS control sys-
tem.
ABS, EBD SYSTEM
In case of electrical problems with the ABS, the ABS warning lamp, VDC OFF indicator lamp and SLIP indica-
tor lamp will turn on. In case of electrical problem with the EBD, Brake warning lamp, ABS warning lamp, VDC
OFF indicator lamp and SLIP indicator lamp will turn on. Simultaneously, the VDC/TCS/ABS become one of
the following conditions of the Fail- Safe function.
1. For ABS trouble, only the EBD is activated and the condition of the vehicle is the same condition of vehi-
cles without TCS/ABS system.

SYSTEM DESCRIPTION
[VDC/TCS/ABS]
2. For EBD trouble, the EBD and ABS become inoperative, and the condition of the vehicle is the same as
the condition of vehicles without VDC/TCS/ABS, EBD system. A
NOTE:
In condition 1 described above, an ABS Self Diagnosis sound may be heard. That is a normal condition
because a self diagnosis for “Key Switch ON” and “the First Starting” are being performed. B
Hydraulic Circuit Diagram AFS00211
BRC
PFIA0452E

CAN COMMUNICATION
[VDC/TCS/ABS]
CAN COMMUNICATION PFP:23710
System Description AFS00216
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only.
CAN Communication Unit For 2WD Models AFS00217
Body type Wagon

Axle 2WD
Engine VQ35DE
Transmission CVT
× × × × × × × ×
system
ECM × × × × × × × × × × × × × × × ×
TCM × × × × × × × × × × × × × × × ×
× × × × × × × ×
control unit
Display unit × × × × × × × ×
BCM × × × × × × × × × × × × × × × ×
× × × × × × × × × × × × × × × ×
unit (control unit)
IPDM E/R × × × × × × × × × × × × × × × ×
BRC-77, "TYPE 1/TYPE 2/TYPE 3/TYPE 4/TYPE BRC-82, "TYPE 9/TYPE10/TYPE 11/TYPE 12/
5/TYPE 6/TYPE 7/TYPE 8" TYPE 13/TYPE 14/TYPE 15/TYPE 16"
×: Applicable

CAN COMMUNICATION
[VDC/TCS/ABS]
System Diagram A
● Type1
BRC
SKIA4902E
● Type2 G
L
SKIA4903E
● Type3
M
SKIA4904E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type4
SKIA4905E
● Type5
SKIA4906E
● Type6
SKIA4907E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type7
A
SKIA4908E
BRC
● Type8
K
SKIA4909E

CAN COMMUNICATION
[VDC/TCS/ABS]
Low ABS
tire actua-
Uni-
Dis- fied
unit and A/
ing unit unit (con-
C amp.
control trol
unit unit)
Engine speed signal T R R R R

signal R T
Accelerator pedal position signal T R
P range signal T R
ABS operation signal R T
T T R
A/C control signal
R R T
R R T
R R R R T R
R T
Door switch signal
R R T R R R

CAN COMMUNICATION
[VDC/TCS/ABS]
Low ABS
tire actua- A
Uni-
Dis- fied
unit and A/ B
ing unit unit (con-
C amp.
control trol
unit unit)
Key fob ID signal T R C
D
R T
T R
Buzzer output signal T R E
BRC

G
Front wiper request signal T R H
I
Theft warning horn request signal T R J
K
Brake warning lamp signal R T L
M

CAN COMMUNICATION
[VDC/TCS/ABS]
System Diagram
● Type9
SKIA4910E
● Type10
SKIA4911E
● Type11
SKIA4912E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type12
A
SKIA4913E
BRC
● Type13
K
SKIA4914E
● Type14
L
SKIA4915E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type15
SKIA4916E
● Type16
SKIA4917E

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actua-
tire
Uni- tor B
fied and
meter elec- IPDM
and A/ tric E/R
C unit C
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
D
Engine speed signal T R R R R R
Engine coolant temperature signal T R E
signal R T
Accelerator pedal position signal T R R BRC
G
P range signal T R R H
VDC operation signal R T
I
Fuel consumption monitor signal T R J
K
A/C compressor request signal T R L
T T R
M
A/C control signal
R R T
R R T
R R R R T R

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actua-
tire
Uni- tor
fied and
meter elec- IPDM
and A/ tric E/R
C unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
R T
Door switch signal
R R T R R R
R T
T R

CAN COMMUNICATION
[VDC/TCS/ABS]
CAN Communication Unit For AWD Models AFS00218
A
Body type Wagon
Axle AWD
Engine VQ35DE B
Transmission CVT
C
× × × × × × × ×
system
D
ECM × × × × × × × × × × × × × × × × E
TCM × × × × × × × × × × × × × × × ×
× × × × × × × × BRC
control unit
Display unit × × × × × × × ×
G
BCM × × × × × × × × × × × × × × × ×
Unified meter and A/C amp. × × × × × × × × × × × × × × × × H
I
AWD control unit × × × × × × × × × × × × × × × ×
× × × × × × × × × × × × × × × ×
unit (control unit)
J
IPDM E/R × × × × × × × × × × × × × × × ×
BRC-87, "TYPE 17/TYPE 18/TYPE 19/TYPE 20/ BRC-93, "TYPE 25/TYPE26/TYPE 27/TYPE 28/
TYPE 21/TYPE 22/TYPE 23/TYPE 24" TYPE 29/TYPE 30/TYPE 31/TYPE 32"
K
×: Applicable
TYPE 17/TYPE 18/TYPE 19/TYPE 20/TYPE 21/TYPE 22/TYPE 23/TYPE 24 L

System Diagram
● Type17
M
SKIA4918E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type18
SKIA4919E
● Type19
SKIA4920E
● Type20
SKIA4921E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type21
A
SKIA4922E
BRC
● Type22
K
SKIA4923E
● Type23
L
SKIA4924E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type24
SKIA4925E

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actua-
tire
Uni- tor B
pres- Dis- Driver
fied AWD and
sure Dis- play seat
ing unit trol trol
C unit unit C
con- unit unit
amp. (con-
trol
trol
unit
unit)
D
Second position indicator signal T R E
Engine coolant temperature signal T R BRC
G
Ignition switch signal T R R H
P range signal T R
I
ABS operation signal R R T J
K
T T R L
A/C control signal
R R T
M
R R R T
R R R R T R
R T
Door switch signal
R R T R R R

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actua-
tire
Uni- tor
pres- Dis- Driver
fied AWD and
sure Dis- play seat
ing unit trol trol
C unit unit
con- unit unit
amp. (con-
trol
trol
unit
unit)
R T
T R

signal R T

CAN COMMUNICATION
[VDC/TCS/ABS]
System Diagram A
● Type25
BRC
SKIA4926E
● Type26 G
L
SKIA4927E
● Type27
M
SKIA4928E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type28
SKIA4929E
● Type29
SKIA4930E
● Type30
SKIA4931E

CAN COMMUNICATION
[VDC/TCS/ABS]
● Type31
A
SKIA4932E
BRC
● Type32
K
SKIA4933E

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actu-
tire
Uni- ator
fied AWD and
and trol tric E/R
A/C unit unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)

signal R T
VDC operation signal R R T
Accelerator pedal position signal T R R R
A/C compressor feedback signal T R T
T T R
A/C control signal
R R T
R R R T
R R R R T R

CAN COMMUNICATION
[VDC/TCS/ABS]
ABS
Low
actu- A
tire
Uni- ator
fied AWD and
Signals ECM TCM warn- play con- BCM angle con- B
and trol tric E/R
A/C unit unit
con- unit sor unit
amp. (con-
trol
trol
unit
unit)
C
R T
Door switch signal
R R T R R R D
Key fob door unlock signal T R E
R T
Oil pressure switch signal BRC
T R
Fuel level sensor signal R T G
H
Front wiper request signal T R I
J
L
M

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
TROUBLE DIAGNOSIS PFP:00004
How to Perform Trouble Diagnosis for Quick and Accurate Repair AFS001ZW
INTRODUCTION
● Most important point to perform diagnosis is to understand systems (control and mechanism) in vehicle
thoroughly.
● It is also important to clarify customer complaints before inspec-

tion.
First of all, reproduce symptom, and understand it fully.
Ask customer about his/her complaints carefully. In some cases,
it will be necessary to check symptom by driving vehicle with
customer.
NOTE:
Customers are not professionals. Do not assume “maybe cus-
tomer means...” or “maybe customer mentioned this symptom”.
EFJ0028D
● It is essential to check symptoms right from beginning in order to

repair a malfunction completely.
For an intermittent malfunction, it is important to reproduce
symptom based on interview with customer and past examples.
Do not perform inspection on ad hoc basis. Most intermittent
malfunctions are caused by poor contacts. In this case, it will be
effective to shake suspected harness or connector by hand.
When repairs are performed without any symptom check, no
one can judge if malfunction has actually been eliminated.
● After diagnosis, make sure to carry out “erase memory”. Refer to
BRC-114, "Operation Procedure" . SEF233G
● For an intermittent malfunction, move harness or harness con-

nector by hand to check poor contact or false open circuit.
● Always read “GI General Information” to confirm general precautions. Refer to GI-4, "General Precau-
tions" .

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
DIAGNOSIS FLOWCHART
A
BRC
PFIA0464E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ASKING COMPLAINTS
● Complaints against malfunction vary depending on each person.
It is important to clarify customer complaints.
● Ask customer about what symptoms are present and under
what conditions. Use information to reproduce symptom while
driving.
● It is also important to use the diagnosis sheet so as not to miss
information.
SBR339B
EXAMPLE OF DIAGNOSIS SHEET
LFIA0176E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Component Installation Location AFS001ZX
BRC
PFIA0430E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Schematic AFS001ZY
TFWA0065E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Wiring Diagram — VDC — AFS001ZZ
BRC
TFWA0066E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
TFWA0067E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
BRC
TFWA0068E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
TFWA0069E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
BRC
TFWA0070E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
TFWA0071E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Control Unit Input/Output Signal Standard AFS00200
REFERENCE VALUE FROM CONSULT-II A

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short - circuited. B
Data monitor
Condition checklist
normal operation C
Display selected
CVT shift position = P, R, D, L, shift position one
SLCT LVR POSI Select shift position N position of P, R, D, L, and – D
N.
S position ##
Vehicle stopped 0 [km/h (MPH)] E
FR RH SENSOR
FR LH SENSOR Almost in accor- BRC-125, "Inspection 1
Wheel speed dance with speed-
RR RH SENSOR Vehicle running (Note 1) Wheel Sensor System"
RR LH SENSOR ometer display BRC
(within ± 10%)
Accelerator pedal not
depressed (ignition switch is 0% Communication circuit
Open/close condition
ON) between ABS actuator G
ACCEL POS SIG of throttle valve (linked
and electric unit (control
with accelerator pedal). Depress accelerator pedal
0 - 100% unit) and ECM
(ignition switch is ON)
H
With engine stopped 0 rpm
Almost in accor- BRC-127, "Inspection 2
ENGINE SPEED With engine running
Engine running dance with Engine System"
tachometer display I
Steering angle Straight-ahead Approx. 0 deg BRC-131, "Inspection 5
STR ANGLE SIG detected by steering Steering Angle Sensor
angle sensor Steering wheel turned –756 - 756 deg System" J
Vehicle stopped Approx. 0 d/s BRC-132, "Inspection 6
Yaw rate detected by
YAW RATE SEN Yaw Rate/Side/Decel G
yaw rate/side G sensor Vehicle running –100 - 100 d/s sensor System" K
Transverse G detected Vehicle stopped Approx. 0 m/s2 BRC-132, "Inspection 6
SIDE G SENSOR by yaw rate/side G Yaw Rate/Side/Decel G
sensor Vehicle running –16.7 - 16.7 m/s2 sensor System"
L
With ignition switch turned ON
Brake fluid pressure Approx. 0 bar BRC-129, "Inspection 4
and brake pedal released
PRESS SENSOR detected by pressure Pressure Sensor Sys-
sensor With ignition switch turned ON tem"
–0 - 170 bar M
and brake pedal depressed
Battery voltage sup-
plied to ABS actuator
BATTERY VOLT Ignition switch ON 10 - 16 V tric Unit (Control Unit)
and electric unit (con-
Power Supply and
trol unit)
Ground Circuit"
Brake pedal depressed ON BRC-137, "Inspection 10
STOP LAMP SW Brake pedal operation Stop Lamp Switch Sys-
Brake pedal not depressed OFF tem"
VDC OFF switch ON
(When VDC OFF indicator ON
VDC OFF switch lamp is ON) BRC-141, "VDC OFF
OFF SW
ON/OFF status VDC OFF switch OFF SWITCH"
(When VDC OFF indicator OFF
lamp is OFF)

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Data monitor
Condition checklist
normal operation
ABS warning lamp ON ON BRC-123, "BASIC
INSPECTION 3 ABS
ABS warning lamp ON WARNING LAMP, VDC
ABS WARN LAMP
condition (Note 2) ABS warning lamp OFF OFF OFF INDICATOR LAMP,
SLIP INDICATOR LAMP
INSPECTION"
Ignition switch ON or engine
Operation status of running (ABS not operated)
MOTOR RELAY Actuator Motor, Motor
motor and motor relay Ignition switch ON or engine
running (ABS operated)
Vehicle stopped (Ignition
Actuator relay opera- switch ON)
ACTUATOR RLY Actuator Motor, Motor
tion status Vehicle stopped (Engine run-
ning)
When VDC OFF indicator
ON BRC-140, "Inspection 16
VDC OFF indicator lamp is ON
OFF LAMP VDC OFF Indicator Lamp
lamp status (Note 3) When VDC OFF indicator
OFF Dose Not Illuminate"
lamp is OFF
When SLIP indicator lamp is
BRC-123, "BASIC
ON
ON INSPECTION 3 ABS
SLIP indicator lamp When SLIP indicator lamp is WARNING LAMP, VDC
SLIP LAMP
status (Note 4) blinking OFF INDICATOR LAMP,
SLIP INDICATOR LAMP
When SLIP indicator lamp is
OFF INSPECTION"
OFF
FR LH IN SOL Actuator (solenoid) is active
FR LH OUT SOL (“ACTIVE TEST” with CON-
ON
FR RH IN SOL SULT-II) or actuator relay is
FR RH OUT SOL Solenoid valve opera- inactive (in fail-safe mode).
RR RH IN SOL tion
RR RH OUT SOL When actuator (solenoid) is
RR LH IN SOL not active and actuator relay is OFF
RR LH OUT SOL active (ignition switch ON). BRC-134, "Inspection 7
Solenoid and VDC
When actuator (switch-over
Change-Over Valve Sys-
valve) is active (“ACTIVE
tem"
TEST” with CONSULT-II) or ON
CV1 actuator relay is inactive (when
CV2 VDC/TCS switch-over in fail-safe mode).
SV1 valve status
SV2 When actuator (switch-over
valve) is not active and actua-
OFF
tor relay is active (ignition
switch ON).
Longitudinal accelera- Vehicle stopped Approx. 0G BRC-132, "Inspection 6
DECEL G-SEN tion detected by Decel Yaw Rate/Side/Decel G
G Sensor (Note5) Vehicle running -1.7 - +1.7G sensor System"
When brake fluid level switch
ON BRC-138, "Inspection 11
ON/OFF status of ON
FLUID LEV SW Brake Fluid Level Sensor
brake fluid level switch When brake fluid level switch
OFF System"
OFF

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Data monitor
Note: Error inspection A
Condition checklist
normal operation
VDC fail
TCS fail B
ON
VDC FAIL SIG ABS fail VDC system
TCS FAIL SIG EBD fail TCS system
Fail signal status
ABS FAIL SIG VDC normal ABS system C
EBD FAIL SIG TCS normal EBD system
OFF
ABS normal
EBD normal
D
Brake warning lamp ON ON BRC-123, "BASIC
INSPECTION 3 ABS
Brake warning lamp on WARNING LAMP, VDC
EBD WARN LAMP
condition (Note 6) Brake warning lamp OFF OFF OFF INDICATOR LAMP, E
SLIP INDICATOR LAMP
INSPECTION"
EBD active ON
EBD SIGNAL EBD operation BRC
EBD not active OFF
ABS active ON
ABS SIGNAL ABS operation
ABS not active OFF G
TCS active ON
TCS SIGNAL TCS operation –
TCS not active OFF
H
VDC active ON
VDC SIGNAL VDC operation
VDC not active OFF
Cranking ON I
CRANKING SIG CRANKING status
Not cranking OFF
ETS fail ON
4WD FAIL REQ ETS fail status (Note 5) J
ETS normal OFF
–
2WD model 2WD
2WD/4WD Drive axle
AWD model 4WD K
Note 1: Confirm tire pressure is normal.
Note 2: ON/OFF timing of ABS warning lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected. L
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation) condition by VDC.
Note 3: ON/OFF timing of VDC OFF indicator lamp
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected and VDC OFF switch is ON.
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation.) And when VDC OFF switch is M
OFF.
Note 4: SLIP indicator lamp ON/OFF timing
ON: For approximately 2 seconds after ignition switch is turned ON, or when a malfunction is detected.
OFF: Approximately 2 seconds after ignition switch is turned ON (when system is in normal operation) and VDC/TCS function is not
activated.
Blinking: VDC/TCS function is active during driving
Note 5: Only AWD model.
Note 6: Serves as EBD warning lamp.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
CONSULT-II Functions AFS00201
CONSULT-II MAIN FUNCTION

In a diagnosis function (main function), there are “WORK SUPPORT”, “SELF-DIAGNOSTIC RESULTS”,
“DATA MONITOR”, “CAN DIAG SUPPORT MNTR”, “ACTIVE TEST”, “FUNCTION TEST”, “ECU PART NUM-
BER”.
Diagnostic
Function Reference
test mode
BRC-70, "Adjustment of
WORK SUP- This mode enables a technician to adjust some devices faster and more accurately
Steering Angle Sensor Neu-
PORT by following the indications on CONSULT-II.
tral Position"
SELF-DIAG-
BRC-114, "SELF-DIAGNO-
NOSTIC Self-diagnostic results can be read and erased quickly.
SIS"
RESULTS
DATA MONI-
Input/Output data in the ABS actuator and electric unit (control unit) can be read. BRC-118, "DATA MONITOR"
TOR
CAN DIAG
SUPPORT The results of transmit/receive diagnosis of communication can be read. —
MNTR
Diagnostic Test Mode in which CONSULT-II drives some actuators apart from the
ACTIVE TEST ABS actuator and electric unit (control unit) and also shifts some parameters in a BRC-120, "ACTIVE TEST"
specified range.
FUNCTION Conducted by CONSULT-II instead of a technician to determine whether each sys-
—
TEST tem is “OK” or “NG”.
ECU PART
ABS actuator and electric unit (control unit) part number can be read. —
NUMBER
CONSULT-II BASIC OPERATION PROCEDURE

2. Connect CONSULT-II and CONSULT-II CONVERTER to the
data link connector.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II
CONVERTER, malfunctions might be detected in self-diag-
nosis depending on control unit which carry out CAN com-
munication.
PBIB1300E
4. Touch “START (NISSAN BASED VHCL)”.
SKIA3098E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
5. Touch “ABS” in the “SELECT SYSTEM” screen.
If “ABS” is not indicated, go to GI-38, "CONSULT-II Data Link A
Connector (DLC) Circuit" .
PKIA2102E
D
6. Select the required diagnostic location from the “SELECT DIAG
MODE” screen.
For further information, see the CONSULT-II Operation Manual.
E
BRC
G
SFIA2435E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
SELF-DIAGNOSIS
Description
If an error is detected in the system, ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp on the
combination meter turn on. In this case, perform self-diagnosis as follows.
Operation Procedure
2. Connect CONSULT-II and CONSULT-II CONVERTER to the data link connector.
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be
detected in self-diagnosis depending on control unit which performs CAN communication.

5. After stopping the vehicle, with engine running at idle speed, touch “START (NISSAN BASED VHCL)”,
“ABS”, “SELF-DIAG RESULTS” in order on the CONSULT-II screen.
CAUTION:
● If there is no error during CONSULT-II use, ABS warning lamp, VDC OFF indicator lamp, SLIP
indicator lamp may be turned ON/OFF.
● If “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on
ignition switch, “ABS” might not be displayed in the System Selection screen. In this case,
repeat the operation from step 1. If it connect be shown after several attempts, ABS actuator
and electric unit (control unit) may have malfunction. Repair or replace control unit.
6. The self-diagnostic results are displayed. (If necessary, the self-diagnostic results can be printed out by
touching “PRINT”.)
● When “NO FAILURE” is displayed, check ABS warning lamp, VDC OFF indicator lamp, and SLIP indi-
cator lamp.
7. Conduct the appropriate inspection from the display item list, and repair or replace the malfunctioning
component.
CAUTION:
● When a wheel sensor “short-circuit” is detected, if the vehicle is not driven at 30 km/h (19 MPH)
for at least 1 minute, ABS warning lamp will not turn off even if everything is normal.
● Check again to make sure that there is no malfunction on other parts.
9. Turn ignition switch OFF to prepare for erasing the memory.

10. Start engine and touch “START (NISSAN BASED VHCL)”, “ABS”, “SELF-DIAG RESULTS”, “ERASE
MEMORY” in order on the CONSULT-II screen to erase the error memory.
CAUTION:
If the error memory is not erased, re-conduct the operation from step 5.
11. For the final inspection, drive at approximately 30 km/h (19 MPH) for approximately 1 minute and confirm
that ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp are OFF.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Display Item List
A
FR LH SENSOR- 1 Circuit of front LH wheel sensor is open or sensor power voltage

[C1104] is unusual.
B
RR RH SENSOR- 1 Circuit of rear RH wheel sensor is open or sensor power voltage
[C1101 is unusual.
FR RH SENSOR- 1 Circuit of front RH wheel sensor is open or sensor power voltage
[C1103] is unusual. C
RR LH SENSOR- 1 Circuit of rear LH wheel sensor is open or sensor power voltage
[C1102] is unusual.
D
FR LH SENSOR- 2 BRC-125, "Inspection 1
sor pulses, because of large gap between wheel sensor and sen- Wheel Sensor System"
[C1108]
sor rotor. (Note 1)
ABS actuator and electric unit (control unit) cannot identify sen- E
RR RH SENSOR- 2
[C1105]
sor rotor.
ABS actuator and electric unit (control unit) cannot identify sen- BRC
FR RH SENSOR- 2
[C1107]
sor rotor.
RR LH SENSOR- 2 G
[C1106]
sor rotor.
STOP LAMP SW H
Stop lamp switch circuit is open or shorted. Stop Lamp Switch Sys-
[C1116]
tem"
PRESS SEN CIRCUIT Pressure sensor signal line is open or shorted, sensor power
Pressure Sensor Sys- I
[C1142] voltage is unusual, or pressure sensor is malfunctioning.
tem"
When “ST ANG SEN J
ST ANGLE SEN CIRCUIT Neutral position of steering angle sensor is dislocated, or steer-
SIGNAL” Appears on
[C1143] ing angle sensor is malfunctioning.
Self-Diagnosis Results
Display"
BRC-132, "Inspection 6 K
YAW RATE SENSOR Yaw rate/side G sensor has generated an error, or yaw rate/side
Yaw Rate/Side/Decel G
[C1145] G sensor signal line is open or shorted.
sensor System"
L

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
FR LH IN ABS SOL Circuit of front LH IN ABS solenoid is open or shorted, or control
FR LH OUT ABS SOL Circuit of front LH OUT ABS solenoid is open or shorted, or con-
RR RH IN ABS SOL Circuit of rear RH IN ABS solenoid is open or shorted, or control
RR RH OUT ABS SOL Circuit of rear RH OUT ABS solenoid is open or shorted, or con-
FR RH IN ABS SOL Circuit of front RH IN ABS solenoid is open or shorted, or control
FR RH OUT ABS SOL Circuit of front RH OUT ABS solenoid is open or shorted, or con-
RR LH IN ABS SOL Circuit of rear LH IN ABS solenoid is open or shorted, or control BRC-134, "Inspection 7
[C1124] line is open or shorted to power supply or ground. Solenoid and VDC
Change-Over Valve Sys-
RR LH OUT ABS SOL Circuit of rear LH OUT ABS solenoid is open or shorted, or con- tem"
Front side VDC switch-over solenoid valve (cut valve 1) is open
CV1
or shorted, or control line is open or shorted to power supply or
[C1164]
ground.
Rear side VDC switch-over solenoid valve (cut valve 2) is open
CV2
or shorted, or control line is open or shorted to power supply or
[C1165
ground.
Front side VDC switch-over solenoid valve (suction valve 1) is
SV1
open or shorted, or control line is open or shorted to power sup-
[C1166]
ply or ground.
Rear side VDC switch-over solenoid valve (suction valve 2) is
SV2
open or shorted, or control line is open or shorted to power sup-
[C1167]
ply or ground.
During actuator motor operation with ON, when actuator motor
turns OFF or when control line for actuator motor relay is open. BRC-135, "Inspection 8
PUMP MOTOR (Note 3)
[C1111] During actuator motor operation with OFF, when actuator motor Relay, and Circuit"
turns ON or when control line for relay is shorted to ground.
ABS SENSOR BRC-125, "Inspection 1
[MALFUNCTION SIGNAL] Wheel sensor input is malfunction. Wheel Sensor System"
[C1115] (Note 1)
BATTERY VOLTAGE ABS Actuator and Elec-
ABS actuator and electric unit (control unit) power voltage is too
[MALFUNCTION] tric Unit (Control Unit)
low.
[C1109] Power Supply and
Ground Circuit"
ST ANGLE SEN SIGNAL Neutral position correction of steering angle sensor is not fin- BRC-139, "Inspection 12
[C1144] ished. When “ST ANG SEN
SIGNAL” Appears on
ST ANG SEN COM CIR CAN communication line or steering angle sensor has generated Self-Diagnosis Results
[C1156] an error. Display"
SIDE G-SEN CIRCUIT Yaw rate/side G sensor is malfunctioning, or signal line of yaw
Yaw Rate/Side/Decel G
[C1146] rate/side G sensor is open or shorted.
sensor System"
CONTROLLER FAILURE Internal malfunction of ABS actuator and electric unit (control
VDC/TCS/ABS Control
[C1110] unit)
Unit System"

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
A
● CAN communication line is open or shorted.
● ABS actuator and electric unit (control unit) internal malfunc- BRC-139, "Inspection 13
CAN COMM CIRCUIT
tion CAN Communication
[U1000] B
● Battery voltage for EMC is suddenly interrupted for approxi- System" (Note 2)
mately 0.5 seconds or more.
Brake fluid level drops or circuit between ABS actuator and elec- BRC-138, "Inspection 11
BR FLUID LEVEL LOW C
tric unit (control unit) and brake fluid level switch is open or Brake Fluid Level Sensor
[C1155]
shorted. System"
ABS actuator and elec-
VARIANT CODING
[C1170]
V coding is not functioning. tric unit (control unit) and D
circuit
G - SENSOR Decel G sensor is malfunctioning, or signal line of Decel G sen-
Yaw Rate/Side/Decel G E
[C1113] sor is open or shorted.
sensor System"
Based on the signal from ECM, ABS actuator and electric unit
ENGINE SIGNAL 1
(control unit) judges that engine fuel cut system is malfunction- –
[C1130] BRC
ing.
ENGINE SIGNAL 2 Based on the signal from ECM, ABS actuator and electric unit
–
[C1131] (control unit) judges that engine ETC system is malfunctioning.
G
–
[C1132] (control unit) judges that engine CAN system is malfunctioning.
Based on the signal from ECM, ABS actuator and electric unit
ENGINE SIGNAL 4 H
(control unit) judges that engine torque down system is malfunc- –
[C1133]
tioning.
–
[C1136] (control unit) judges that engine control system is malfunctioning. I
● Actuator solenoid valve relay is ON, even if control unit sends
off signal. BRC-135, "Inspection 8
ACTUATOR RLY
[C1140] ● Actuator solenoid valve relay is OFF, even if control unit sends J
Relay, and Circuit"
on signal.
When “DECEL G SEN K
DECEL G SEN SET
Neutral position correction of Decel G -sensor is not finished. SET” Appears on Self-
[C1160]
Diagnosis Results Dis-
play"
Note 1: After completing repairs of shorted sensor circuit, when ignition switch is turned ON, ABS warning lamp turns on. Check that L
ABS warning lamp turns off while driving vehicle at approximately 30 km/h (19 MPH) for approximately 1 minute according to self-diag-
nosis procedure. In addition, if wheel sensor 2 is displayed for wheels, check wheel sensor circuit and also check control unit power volt-
age. M
Note 2. If multiple malfunctions are detected including CAN communication line [U1000], perform diagnosis for CAN communication line
first.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
DATA MONITOR
Operation Procedure
1. Touch “ABS”, “DATA MONITOR” in order on CONSULT-II screen.
CAUTION:
When “START (NISSAN BASED VHCL)” is touched immediately after starting engine or turning on
ignition switch, “ABS” might not be displayed in system selection screen. In this case, repeat the
operation from step 2.
2. Return to Monitor Item Selection screen, and touch “ECU INPUT SIGNALS”, “MAIN SIGNALS” or
“SELECTION FROM MENU”. Refer to following information.
3. When “START” is touched, data monitor screen is displayed.
Display Item List
Monitor item selection
FR RH SENSOR
(km/h, MPH)
played.
FR LH SENSOR
(km/h, MPH)
played.
Wheel speed calculated by rear
RR RH SENSOR
(km/h, MPH)
played.
Wheel speed calculated by rear
RR LH SENSOR
(km/h, MPH)
played.
BATTERY VOLT Voltage supplied to ABS actuator
× × ×
(V) and electric unit (control unit).
Shift position judged by CVT PNP
SLCT LVR POSI × × ×
switch signal.
Throttle valve open/close status
ACCEL POS SIG
× – – judged by CAN communication
(%)
signal is displayed.
ENGINE SPEED Engine speed judged by CAN
× × ×
(rpm) communication signal is displayed.
STR ANGLE SIG Steering angle detected by steer-
× – –
(deg) ing angle sensor is displayed.
YAW RATE SEN Yaw rate detected by yaw rate side
× × –
(d/s) G sensor is displayed.
DECEL G SEN Decel acceleration detected by
× × ×
(G) (Only AWD model) Decel G sensor is displayed.
SIDE G-SENSOR Lateral acceleration detected by

× – – yaw rate/side G sensor is dis-
(m/s2 ) played.
PRESS SENSOR Brake fluid pressure detected by
× – –
(bar) pressure sensor is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
(ON/OFF) is displayed.
OFF SW VDC OFF switch (ON/OFF) sta-
× × ×
ABS WARN LAMP ABS warning lamp (ON/OFF) sta-
– × ×
SLIP LAMP SLIP indicator lamp (ON/OFF) sta-
– × ×

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Monitor item Remarks A
ECU INPUT MAIN SELECTION
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × × B
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/ C
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed. D
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/ E
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed. BRC
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
OFF LAMP OFF Lamp (ON/OFF) status is dis- G
– × ×
(ON/OFF) played.
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
(ON/OFF) status is displayed. H
ACTUATOR RLY ABS actuator relay signal (ON/
– × ×
CV1
Front side switch-over solenoid I
– – × valve (cut valve 1) (ON/OFF) sta-
(ON/OFF)
tus is displayed.
Rear side switch-over solenoid J
CV2
– – × valve (cut-valve 2) (ON/OFF) sta-
(ON/OFF)
tus is displayed.
Front side switch-over solenoid
SV1 K
– – × valve (suction valve 1) (ON/OFF)
(ON/OFF)
status is displayed.
Rear side switch-over solenoid
SV2
– – × valve (suction valve 2) (ON/OFF) L
(ON/OFF)
status is displayed.
VDC FAIL SIG VDC fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed. M
TCS FAIL SIG TCS fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
FLUID LEV SW Brake fluid level switch (ON/OFF)
× – –
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS SIGNAL TCS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
VDC SIGNAL VDC operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
EBD WARN LAMP Brake warning lamp (ON/OFF)
– – ×
(ON/OFF) status is displayed. (Note)
CRANKING SIG Cranking condition (ON/OFF) sta-
– – ×
4WD FAIL REQ AWD fail-safe signal (ON/OFF)
– – ×
2WD/4WD
– – × Distinguish 2WD and AWD
(2WD/4WD)
×: Applicable
–: Not applicable
Note: Serves as EBD warning lamp.
ACTIVE TEST
CAUTION:
● Do not perform active test while driving vehicle.
● Make sure to completely bleed air from the brake system.
● Active test cannot be performed when ABS warning lamp is on.
● ABS and brake warning lamps turn on during the active test.
Operation Procedure
1. Touch “ABS”.
2. Touch “ACTIVE TEST”.
3. Test item selection screen is displayed.
4. Touch necessary test item.
LBR379
5. With “SELECT TEST SIGNALS” display shown in reverse, touch “START”.

6. “ACTIVE TEST” screen will be displayed, so conduct following test.
Test Item
Solenoid valve
CAUTION:
The example shown is for front right wheel. The procedure for the other wheels is the same as given
below.
1. For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN”.
Then use screen monitor to check that solenoid valve operates
as shown in Solenoid Valve Operation Chart. Refer to “Solenoid
Valve Operation Chart”.
SFIA0678E

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Solenoid Valve Operation Chart A

ABS solenoid valve ABS solenoid valve (ACT)
Operation ACTUATOR ACTUATOR
UP KEEP DOWN UP
UP KEEP B
FR RH IN SOL OFF ON ON OFF OFF OFF
FR RH OUT SOL OFF OFF ON* OFF OFF OFF
C
FR LH IN SOL OFF ON ON OFF OFF OFF
FR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH IN SOL OFF ON ON OFF OFF OFF D
RR RH OUT SOL OFF OFF ON* OFF OFF OFF
RR LH IN SOL OFF ON ON OFF OFF OFF
RR LH OUT SOL OFF OFF ON* OFF OFF OFF E
Primary side VDC switch over
OFF OFF OFF OFF ON* OFF
valve 1 (SV 1)
BRC
Primary side VDC switch over
OFF OFF OFF OFF ON ON
valve 1 (CV 1)
Secondary side VDC switch
OFF OFF OFF OFF ON* OFF G
over valve 2 (SV 2)
Secondary side VDC switch
OFF OFF OFF OFF ON ON
over valve 2 (CV 2)
*: ON for 1 to 2 seconds after the touch, and then OFF H
NOTE:
● When active test is performed while depressing pedal, pedal depression amount will change, but this is
normal. I
● Approximately 10 seconds after operation is begun, “TEST STOP” will be displayed.
● To perform retest after “TEST STOP” is displayed, touch “BACK” and conduct the test from the Step 6.
J
ABS Motor
Touch “ON” and “OFF” on the screen. Make suer ABS motor relay
operates as shown in table below. K
Operation ON OFF
ABS actuator relay ON ON
L
ABS motor relay ON OFF
NOTE:
● When active test is performed while depressing pedal, pedal M
depression amount will change, but this is normal.
● Approximately 10 seconds after operation is begun, “TEST SFIA0593E
STOP” will be displayed.

● To perform retest after “TEST STOP” is displayed, touch “BACK” and conduct the test from the Step 6.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
For Fast and Accurate Diagnosis AFS00202
PRECAUTIONS FOR DIAGNOSIS

● Before performing diagnosis, always read precautions. Refer to GI-4, "General Precautions" .
● If ABS actuator and electric unit (control unit), steering angle sensor, steering system parts, suspension
system parts, or tires have been replaced, or if alignment has been adjusted, be sure to adjust neutral
position of steering angle sensor before driving. Refer to BRC-70, "Adjustment of Steering Angle Sensor
Neutral Position" .
● After diagnosis is finished, be sure to erase memory. Refer to BRC-114, "Operation Procedure" .
● When checking continuity and voltage between units, be sure to check for disconnection, looseness,
bend, or collapse of connector terminals. If any malfunction is found, repair or replace connector termi-
nals.
● For intermittent symptoms, possible cause is malfunction in harness, harness connector, or terminals.
Move harness, harness connector, and terminals to check for poor connections.
● If a circuit tester is used for the check, be careful not to forcibly extend any connector terminal.
● To use CONSULT-II to perform self-diagnosis of ABS actuator and electric unit (control unit), active tests,
or work support, first stop work, then connect CONSULT-II and select “ABS”.
● While self-diagnosis results of CONSULT-II shows malfunction, if CONSULT-II active test is performed, an
engine system error may be indicated. In this case, start engine to resume the normal screen.
● VDC/TCS/ABS system electronically controls brake operation and engine output. The following symptoms
may be caused by normal operations:
● When CONSULT-II is used, ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp may be
ON/OFF.
Symptom Symptom description Result

This is noise of motor inside ABS actuator and electric unit (control unit).
Slight noise may occur during VDC, TCS, and ABS operation.
Motor operation noise When the vehicle speed goes over 20 km/h (12.5 MPH), the motor and Normal
valves operating noise may be heard. It happens only once after IGN
(ignition) is ON. This is a normal status of the system operation check.
System operation check When engine starts, slight “click” noise may be heard from engine com-
Normal
noise partment. This is normal and is part of system operation check.
TCS may activate momentarily if wheel speed changes when driving
over location where friction coefficient varies, when downshifting, or
when fully depressing accelerator pedal.
Normal
For inspection of speedometer or other instruments, press
Cancel the VDC/TCS
VDC OFF SW to turn VDC/TCS function off.
function for the
VDC/TCS operation
When accelerator pedal is depressed on a chassis dynamometer (fixed inspection on a chas-
(SLIP lamp Blinking)
front-wheel type), vehicle speed will not increase. This is not normal. It is sis dynamometer.
result of TCS being activated by stationary front wheels. Warning lamp
may also illuminate to indicate “sensor system error”. This is also nor-
mal, and is the result of the stationary front wheels being detected. To be
certain, restart engine, and drive vehicle at 30 km/h (19 MPH) or above.
Check that warning lamp does not illuminate.
On roads with low friction coefficients, such as snowy roads or gravel
ABS operation (Longer stop- roads, vehicles with ABS may require a longer stopping distance. There-
Normal
ping distance) fore, when driving on such roads, avoid overconfidence and keep speed
sufficiently low.
Depending on road conditions, driver may feel that feeling of accelera-
tion is insufficient. This is because traction control, which controls
Insufficient feeling of accel-
engine and brakes to achieve optimal traction, has the highest priority Normal
eration
(for safety). As a result, there may be times when acceleration is slightly
less than usual for the same accelerator pedal operation.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
ON and OFF Timing for ABS Warning Lamp, VDC OFF Indicator Lamp, and SLIP Indicator
Lamp A
×: ON –: OFF
ABS warning VDC OFF indica- SLIP indicator
Condition Remarks
lamp tor lamp lamp
B
Ignition SW OFF – – – —
For approx. 2 seconds after
× × × —
ignition SW is turned ON C
Approx. 2 seconds after igni- Turns OFF 2 seconds after igni-
– – –
tion switch ON tion SW is turned ON.
VDC OFF SW is turned ON. D
– × – —
(VDC/TCS function is OFF.)
× × × —
There is an VDC/TCS/ABS There is an ABS actuator and E

error. electric unit (control unit) error.
× × ×
(Power or ground or system mal-
function)
BRC
When VDC/TCS is not func-
– × × —
tioning normally.
Basic Inspection AFS00203 G

BASIC INSPECTION 1 BRAKE FLUID LEVEL, LEAKS, AND BRAKE PADS
1. Check fluid level in the brake reservoir tank. If fluid level is low, refill the brake fluid.
2. Check the brake piping and around the ABS actuator and electric unit (control unit) for leaks. If leakage or H
seepage is found, check the following items.
● If ABS actuator and electric unit (control unit) connection is loose, tighten the piping to the specified
torque and make sure there are no leaks. I
● If there is damage to the connection flare nut or ABS actuator and electric unit (control unit) screw,
replace the damaged part and re-conduct the leak inspection to make sure there are no leaks.
● If there is leakage or seepage at any location other than ABS actuator and electric unit (control unit) J
connection, wipe away leakage or seepage with clean cloth. Then inspect again and confirm the there
is on leakage.
● If there is leakage from ABS actuator and electric unit (control unit), wipe away leakage or seepage with
K
clean cloth. Then inspect again. If there is leakage or seepage, replace ABS actuator and electric unit
(control unit).
CAUTION:
L
ABS actuator body cannot be disassembled.
3. Check brake disc and pads. Refer to BR-28, "Removal and Installation of Brake Pad" in “Front Disc
Brake” and BR-34, "Removal and Installation of Brake Pad" in “Rear Disc Brake”.
M
BASIC INSPECTION 2 POWER SYSTEM TERMINAL LOOSENESS AND BATTERY INSPECTION
Make sure the battery positive cable, negative cable and ground connection are not loose. If looseness is
detected, tighten the piping to the specified torquer. In addition, check the battery voltage to make sure it has
not dropped and the altimeter is normal.
BASIC INSPECTION 3 ABS WARNING LAMP, VDC OFF INDICATOR LAMP, SLIP INDICATOR
LAMP INSPECTION
1. Check that ABS warning lamp, VDC OFF indicator lamp (when VDC OFF switch is OFF), and SLIP indi-
cator lamp turns ON approximately 2 second when ignition switch is turned ON. If they do not, check the
VDC OFF indicator lamp and then VDC OFF switch. Refer to BRC-141, "VDC OFF SWITCH" . Check
CAN communications. Refer to BRC-139, "Inspection 13 CAN Communication System" . If there are no
errors with VDC OFF switch and CAN communication system, check ABS warning lamp, VDC OFF indi-
cator lamp, SLIP indicator lamp and combination meter. Refer to DI-4, "COMBINATION METERS" .
2. Make sure the lamp turns OFF approximately 2 second after ignition switch is turned ON. If the lamp does
not turn OFF, conduct self-diagnosis.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. With engine running, make sure VDC OFF indicator lamp turns ON and OFF when VDC OFF switch is
turned ON and OFF. If the indicator lamp status does not correspond to switch operation, check VDC OFF
switch system. Refer to BRC-141, "VDC OFF SWITCH" .
4. Make sure ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp turns OFF 2 seconds
after engine is started. If ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp have not
turned off 10 seconds after engine has been started, conduct self-diagnosis of ABS actuator and electric
unit (control unit).
5. After conducting self-diagnosis, be sure to erase the error memory. Refer to BRC-112, "CONSULT-II
Functions"

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 1 Wheel Sensor System AFS00204
A
After using the CONSULT-II SELF-DIAG RESULTS to determine positions of malfunctioning wheel sensor,
check all areas to determine the component to be replaced.
CAUTION:
● Do not measure the resistance value and also voltage between sensor terminal with tester etc., B
because e sensor is an active sensor.
● Do not expand terminal of connector with a tester terminal stick, when it does the inspection with
the tester. C
1. CHECK SELF-DIAGNOSIS RESULT D
Self-diagnosis results E
FR RH SENSOR-1,-2
FR LH SENSOR- 1,-2
BRC
RR RH SENSOR-1,-2
RR LH SENSOR-1,- 2
ABS SENSOR G
SFIA0625E
YES >> GO TO 2.
NO >> Inspection END H
2. CHECK CONNECTOR
I
1. Disconnect ABS actuator and electric unit (control unit) connector E24 and the malfunctioning wheel sen-
sor connector E20 (FR - LH) or E27 (FR - RH) or B202 (RR - LH), B203 (RR - RH). Check terminal to see
if it is deformed, disconnected, loose, etc., and repair or replace it if any malfunction condition is found.
2. Reconnect connectors and check that interference with other parts has not cut wheel sensor cables, drive J
at a speed of 30 km/h (19 MPH) or above for at least 1minute, and conduct self-diagnosis.
OK or NG
OK >> Connector terminal contact is loose, damaged, open or shorted. K
NG >> GO TO 3.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK WHEEL SENSOR HARNESS
1. Turn ignition switch OFF and disconnect the wheel sensor con-
nector E20 (FR - LH), E27 (FR - RH), B202 (RR - LH), B203 (RR
- RH) and ABS actuator and electric unit (control unit) connector
E24.
2. Check continuity between terminals. (Also check continuity
when steering wheel is turned right and left and when sensor
harness inside the wheel well is moved.)
PFIA0426E
Power system Signal system Ground system

ABS actuator
ABS actuator ABS actuator ABS actuator
and electric unit
Wheel and electric unit Wheel sensor and electric unit Wheel sensor and electric unit
(control unit)
(control unit) (control unit) (control unit)
(Ground)
Front RH 34 (B) 1 (B) 33 (W) 2 (W) 33 (W), 34 (B)
Front LH 45 (G) 1 (G) 46 (R) 2 (R) 45 (G), 46 (R)
16 (B), 47 (B)
Rear RH 43 (LG) 1 (LG) 42 (V) 2 (V) 43 (LG), 42 (V)
Rear LH 36 (L) 1 (L) 37 (P) 2 (P) 36 (L), 37 (P)
Power system : Continuity should exist.

Signal system : Continuity should exits.
Ground system : Continuity should not exist.
OK or NG
OK >> GO TO 4.
NG >> Repair harness and connector between ABS actuator and electric unit (control unit) and wheel
sensor.
4. CHECK TIRE
Check air pressure, wear, and size.
Are air pressure, wear, and size within the standard values?
YES >> GO TO 5.
NO >> Adjust air pressure, or replace tire.
5. CHECK SENSOR AND SENSOR ROTOR

● Check condition of sensor mount (for looseness, etc.).
● Check surface of front sensor rotor rubber for damage.
● Check rear sensor rotor for damage.
OK or NG
OK >> GO TO 6.
NG >> Repair or replace the malfunctioning component.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
6. CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT A
1. Connect the wheel sensor connector E20 (FR - LH), E27 (FR -
RH), B202 (RR - LH), B203 (RR - RH) and ABS actuator and
electric unit (control unit) connector E24. B
2. Turn on ignition switch and check the voltage between the
power supply terminal and the ground.
Voltage C
Front RH 1 (B) - Ground : 8 V or more
Front LH 1 (G) - Ground : 8 V or more
D
Rear RH 1 (LG) - Ground : 8 V or more
PFIA0427E
Rear LH 1 (L) - Ground : 8 V or more

E
OK or NG
OK >> Replace wheel sensor.
NG >> Replace the ABS actuator and electric unit (control unit). BRC
Inspection 2 Engine System AFS00205
INSPECTION PROCEDURE G
Check self-diagnosis results. H
ENGINE SIGNAL 1
I
ENGINE SIGNAL 2
ENGINE SIGNAL 3
ENGINE SIGNAL 4 J
ENGINE SIGNAL 6
YES >> GO TO 2. K
2. CHECK ENGINE SYSTEM L
1. Conduct an ECM self-diagnosis and repair or replace any malfunction items. Re-conduct the ECM self-
diagnosis.
M
2. Re-conduct ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
OK >> Inspection END
NG >> Repair or replace any malfunction items. Re-conduct self-diagnosis.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 3 VDC/TCS/ABS Control Unit System AFS00206
CONTROLLER FAILURE

YES >> Replace ABS actuator and electric unit (control unit). Re-conduct self-diagnosis.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 4 Pressure Sensor System AFS00207
A
B
PRESS SEN CIRCUIT C
YES >> GO TO 2.
2. CHECK CONNECTOR
E
1. Disconnect pressure sensor connector E23 and ABS actuator and electric unit (control unit) connector
E24, check terminals for deformation, disconnection, looseness, and so on. If there is an error, repair or
replace terminal.
BRC
2. Reconnect connectors and Re-conduct ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
OK >> Connector terminal contact is loose, damaged, open or shorted. G
NG >> GO TO 3.
3. CHECK PRESSURE SENSOR HARNESS H

1. Turn ignition switch OFF and disconnect Pressure sensor con-
nector E23 and ABS actuator and electric unit (control unit) con-
nector E24. I
2. Check continuity between ABS actuator and electric unit (control
unit) connector and pressure sensor connector.
J
K
PFIA0458E
L
Pressure sensor Continuity
unit (control unit)
19 (W/B) 1 (W/B) Yes
M
20 (LG/R) 2 (LG/R) Yes
18 (BR/Y) 3 (BR/Y) Yes
OK or NG
OK >> GO TO 4.
NG >> If the open or short in harness, repair or replace harness.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
4. PRESSURE SENSOR INSPECTION
1. Connect pressure sensor connector E23 and ABS actuator and electric unit (control unit) connectors E24.
2. Use “Data Monitor” to check the pressure sensor value.
Condition Data monitor display
When brake pedal is depressed. Positive value
When brake pedal is released. Approx. 0 bar
OK or NG
NG >> Pressure sensor is damaged or malfunctioning, replace pressure sensor.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 5 Steering Angle Sensor System AFS00208
A
B
ST ANGLE SEN CIRCUIT C
Is above displayed in self-diagnosis item?
YES >> GO TO 2.
2. CHECK CONNECTOR
E
1. Disconnect steering angle sensor connector M33 and ABS actuator and electric unit (control unit) connec-
tor E24 and check terminals for deformation, disconnection, looseness, and so on. If there is an error,
repair or replace terminal.
BRC
2. Reconnect connectors and Re-conduct a ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
OK >> Connector terminal contact is loose, damaged, open or shorted. G
NG >> GO TO 3.
3. CHECK STEERING ANGLE SENSOR HARNESS H

1. Check CAN communication system. Refer to BRC-139, "Inspection 13 CAN Communication System" .
2. Turn ignition switch OFF and disconnect steering angle sensor
connector M33 and ABS actuator and electric unit (control unit) I
connector E24.
unit) connector terminal and steering angle sensor connector J
terminal.
PFIA0459E
ABS actuator and electric unit (control

Steering angle sensor Continuity
unit)
11 (L) 4 (L) Yes M
15 (Y) 5 (Y) Yes
OK or NG
OK >> GO TO 4.
4. CHECK STEERING WHEEL PLAY

Check steering wheel play. Refer to PS-8, "CHECKING STEERING WHEEL PLAY" .
OK or NG
OK >> GO TO 5
NG >> Adjustment steering wheel play.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
5. CHECK DATA MONITOR
1. Connect steering angle sensor and ABS actuator and electric unit (control unit) connectors.
2. Conduct “Data Monitor” of the “STEERING ANGLE SIGNAL” to check if the status is normal.
Steering condition Data monitor
Straight-ahead –3.5 deg to +3.5 deg
Turn wheel to the right by 90° Approx. - 90deg
Turn wheel to the left by 90° Approx.+ 90deg
OK or NG
OK >> Re-conduct ABS actuator and electric unit (control unit) self-diagnosis.
NG >> Replace spiral cable (steering angle sensor) and adjust neutral position of steering angle sensor.
Refer to BRC-70, "Adjustment of Steering Angle Sensor Neutral Position" .
Inspection 6 Yaw Rate/Side/Decel G sensor System AFS00209
CAUTION:
Sudden turns (such as spin turns, acceleration turns), drifting, etc. May cause yaw rate/side/decel G
sensor system indicate a problem. However this is not a problem if normal operation can be resumed
after restarting engine.
YAW RATE SENSOR
SIDE G-SEN CIRCUIT
G-SENSOR
CAUTION:
When on a turntable, such as at a parking structure entrance, or when on a moving object with engine
running, the VDC OFF indicator lamp might turn on and self-diagnosis using the CONSULT-II yaw rate
sensor system malfunction might be displayed, but in this case there is no problem with yaw rate/side/
decel G sensor system. As soon as the vehicle leaves the turntable or moving object, restart engine to
return the system to normal.
YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect yaw rate/side/decel G sensor connector M61 and ABS actuator and electric unit (control unit)
connector E24 and check terminals for deformation, disconnection, looseness, and so on. If there is an
error, repair or replace terminal.
2. Reconnect connectors and re-conduct a ABS actuator and electric unit (control unit) self-diagnosis.
OK or NG
NG >> GO TO 3.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK YAW RATE SENSOR/SIDE G SENSOR HARNESS A
1. Turn ignition switch OFF and disconnect yaw rate/side/decel G
sensor connector M61 and ABS actuator and electric unit (con-
trol unit) connector E24. B
unit) vehicle side connector and yaw rate/side/decel G sensor
vehicle side connector. C
D
PFIA0460E
E
Yaw rate/side/decel G sensor Continuity
(control unit)
6 (G/R) 3 (G/R) Yes BRC
24 (P/L) 5 (P/L) Yes
25 (W) 1 (W/G) Yes
29 (R) 2 (R/Y) Yes G
OK or NG
OK >> GO TO 4. H
NG >> If open or short in harness, repair or replace harness.
4. CHECK YAW RATE SENSOR/SIDE/DECEL G SENSOR

I
1. Connect yaw rate /side/decel G sensor M61 and ABS actuator and electric unit (control unit) connector
E24.
2. Use “Data Monitor” to check if yaw rate sensor/side/decel G sensor are normal. J
Yaw rate sensor Side G sensor Decel G sensor
Vehicle status (Data monitor stan- (Data monitor stan- (Data monitor stan-
dard) dard) dard) K
When stopped –4 to +4deg/s –1.1 to +1.1 m/s2 –0.11 G to +0.11 G
Right turn Negative value Negative value – L
Left turn Positive value Positive value –
Speed up – – Negative value
Speed down – – Positive value M
OK or NG
OK >> Perform ABS actuator and electric unit (control unit) self diagnosis again.
NG >> Replace the malfunctioning yaw rate sensor/side/decel G sensor, and then re-conduct ABS actu-
ator and electric unit (control unit) self-diagnosis.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 7 Solenoid and VDC Change-Over Valve System AFS0020A
FR LH IN SOL
FR LH OUT SOL
RR RH IN SOL
RR RH OUT SOL
FR RH IN SOL
FR RH OUT SOL
RR LH IN SOL
RR LH OUT SOL
CV 1
CV 2
SV 1
SV 2
YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E24 check terminals for deformation,
disconnection, looseness, and so on. If there is an error, repair or replace terminal.
2. Securely reconnect connectors and conduct self-diagnosis.
OK or NG
NG >> GO TO 3.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK SOLENOID POWER AND GROUND CIRCUIT
A
unit) harness connector E24 and ground. B

Ground
C
32 (R/B) — 12 V
LFIA0148E
E
trol unit) harness connector E24 and ground.
Resistance BRC
Ground (Ω)
unit (control unit)
(Approx.)
16 (B), 47 (B) — 0Ω G
OK or NG
OK >> Perform self-diagnosis again. If the same results H
appear, replace ABS actuator and electric unit (control
unit). Refer to BRC-148, "ACTUATOR AND ELECTRIC LFIA0152E
UNIT (ASSEMBLY)" .
NG >> Repair harness or connectors. I
Inspection 8 Actuator Motor, Motor Relay, and Circuit AFS0020B
INSPECTION PROCEDURE J
1. CHECK SELF-DIAGNOSIS RESULTS (1)
Check self-diagnosis results. K
CONSULT-II display items
L
PUMP MOTOR
ACTUATOR RLY
Is above displayed in self-diagnosis display items? M
YES >> GO TO 2.
NO >> Inspection END.

2. Perform self-diagnosis again.
YES >> GO TO 3.
NO >> Repair or replace the applicable connector.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK ABS MOTOR AND MOTOR RELAY POWER SYSTEM
unit) connector E24 and ground.
Ground
1 (G/R) — 12 V
LFIA0149E

trol unit) connector E24 and ground.
Resistance
Ground (Ω)
unit (control unit)
(Approx.)
16 (B) — 0Ω
OK or NG
OK >> Perform self-diagnosis again. If the same result
appears, replace ABS actuator and electric unit (control
LFIA0147E
unit). Refer to BRC-148, "ACTUATOR AND ELECTRIC
UNIT (ASSEMBLY)" .
Inspection 9 ABS Actuator and Electric Unit (Control Unit) Power Supply and
Ground Circuit AFS0020C
CONSULT-II display items
BATTERY VOLTAGE
Does “BATTERY VOLTAGE” appear in self-diagnosis results display?
YES >> GO TO 2.
2. CHECK STARTING
2. Perform self-diagnosis.
YES >> GO TO 3.
NO >> Repair or replace connector.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY A
2. Turn ignition switch ON (but do not start engine). Check voltage
between ABS actuator and electric unit (control unit) harness B
connector E24 and ground.
Ground C
4 (GR) — 12 V
OK or NG D
OK >> GO TO 4.
NG >> GO TO 5
LFIA0151E
E
4. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUITS
Check ABS actuator and electric unit (control unit) ground circuits. BRC
Ground Continuity
unit (control unit)
16 (B), 47 (B) — Yes G
OK or NG
OK >> Perform ABS actuator and electric unit (control unit) self-
diagnosis again. H
LFIA0152E
I
5. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SYSTEM
1. Disconnect ABS actuator and electric unit (control unit) connector E24. J
2. Check continuity between battery positive terminal and ABS
actuator and electric unit (control unit) connector E24.
ABS actuator and electric Battery K
unit (control unit) positive Continuity
terminal
4 (G/R) — Yes L
OK or NG
YES >> Check for malfunction conditions in battery (terminal M
looseness, low voltage, etc.) and alternator.
NO >> Repair harness or connectors. PFIA0461E
Inspection 10 Stop Lamp Switch System AFS0020D
STOP LAMP SW

YES >> GO TO 2.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECK CONNECTOR
1. Disconnect the stop lamp switch connector E116 and ABS actuator and electric unit (control unit) connec-
tor E24 and check terminals for deformation, disconnection, looseness, and so on. If any malfunction is
found, repair or replace terminal.
2. Securely reconnect connectors.
3. Start engine.
4. Repeat pumping brake pedal carefully several times, then perform self-diagnosis again.
OK or NG
NG >> GO TO 3.
3. CHECK STOP LAMP SWITCH CIRCUIT

1. Turn ignition switch OFF and disconnect stop lamp switch con-
nector E116 and ABS actuator and electric unit (control unit)
connector E24.
2. Check continuity between stop lamp switch harness connector
E116 and ABS actuator and electric unit (control unit) harness
connector E24.
ABS actuator and electric Stop lamp
Continuity
unit (control unit) switch
41 (R/G) 2 (R/G) Yes
LFIA0150E
OK or NG
OK >> Connect connectors and conduct a ABS actuator and electric unit (control unit) self-diagnosis.
NG >> Open or short in harness. Repair or replace harness.
Inspection 11 Brake Fluid Level Sensor System AFS0020E
1. Check the brake reservoir tank fluid level. If the level is low, add brake fluid.
2. Erase self-diagnosis results and check self-diagnosis results.
BR FLUID LEVEL LOW
YES >> GO TO 2.
2. CHECK CONNECTOR
1. Disconnect the brake fluid level sensor connector E21 and ABS actuator and electric unit (control unit)
connector E24 and check terminal for deformation, disconnection, looseness, and so on. If there is any
malfunction condition, repair or replace terminal.
2. Securely reconnect connectors and Re-conduct self-diagnosis.
OK or NG
NG >> GO TO 3.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK HARNESS BETWEEN THE BRAKE FLUID LEVEL SENSOR AND ABS ACTUATOR AND A
ELECTRIC UNIT (CONTROL UNIT)
1. Turn ignition switch OFF and disconnect the brake fluid level
sensor connector E21, ABS actuator and electric unit (control B
unit) connectors E24.
2. Check continuity between the brake fluid level sensor connector
E21 and ABS actuator and electric unit (control unit) connector C
E24 and ground.
ABS actuator and elec-

Brake fluid level sensor Continuity D
tric unit (control unit)
8 (SB) 1 (SB) Yes
PFIA0433E
8 (SB) Ground No E
Ground 2 (B) Yes
OK or NG BRC
OK >> Connect connectors and conduct a ABS actuator and electric unit (control unit) self-diagnosis.
Inspection 12 When “ST ANG SEN SIGNAL” Appears on Self-Diagnosis Results G
Display AFS0020F
H
1. CHECK SELF DIAGNOSIS RESULTS (1)
I
ST ANG SEN SIGNAL
Dose anything besides “ST ANG SEN SIGNAL” appear on self-diagnosis results display? J
YES >> Inspect and repair the indicated items. Then perform self-diagnosis again.
NO >> Perform adjustment of steering angle sensor neutral position. Then GO TO 2
K
Turin ignition switch OFF, and ON to erase self-diagnosis results, and perform ABS actuator and electric unit L
(control unit) self-diagnosis again.
Dose anything appear on self-diagnosis results display?
YES >> Replace steering angle sensor. Then perform adjustment of neutral position and perform self- M
diagnosis again.
Inspection 13 CAN Communication System AFS002QT
1. CHECK CONNECTOR
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector E24, and
check the terminal for deformation, disconnection, looseness, and so on. If there is a malfunction, repair
or replace the terminal.
2. Reconnect connector to perform self-diagnosis.
Is “CAN COMM CIRCUIT” or “ST ANG SEN COM CIR” displayed in the self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to LAN-10, "Precautions When Using CONSULT-II" .
NO >> Connector terminal connection is loose, damaged, open, or shorted.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Inspection 14 When “DECEL G SEN SET” Appears on Self-Diagnosis Results
Display AFS0020H
DECEL G SEN SET
Dose anything besides “DECEL G SEN SET” appear on self-diagnosis results display?
NO >> Perform adjustment of Decel G Sensor neutral position. Then GO TO 2.

Turn ignition switch OFF, and ON to erase self-diagnosis results, and perform ABS actuator and electric unit
(control unit) self-diagnosis again.
Dose anything appear on self-diagnosis results display?
YES >> Replace Yaw rate/side/decel G sensor. Then perform adjustments of neutral position and perform
self-diagnosis again.
Inspection 15 When “ESTM VEH SPD SIG” Appears on Self-Diagnosis Results
Display AFS0020I
1. CHECK SELF DIAGNOSIS RESULTS
Conduct an CVT self-diagnosis results.
ESTM VEH SPD SIG
Dose anything besides “ESTM VEH SPD SIG” appear on self-diagnosis results display?
NO >> ● Erase CVT self-diagnosis. The inspection is complete.
NOTE:
If there is no error about ABS actuator and electric unit (control unit), “ESTM VHE SPD SIG”
may be displayed in CVT self-diagnosis depending no the timing of cranking.
Inspection 16 VDC OFF Indicator Lamp Dose Not Illuminate AFS0020J
1. CHECK VDC OFF INDICATOR LAMP
Disconnect ABS actuator and electric unit (control unit) connector E24.
Do ABS warning lamp and VDC OFF indicator lamp illuminate?
OK >> Malfunction in combination meter system. Inspect combination meter.
NG >> Malfunction of ABS actuator and electric unit (control unit). Repair or replace control unit.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
Component Inspection AFS0020K
VDC OFF SWITCH A

● Turn ignition switch OFF, and disconnect the VDC OFF switch
connector M17, and check continuity between terminals 1 and 2.
B
1 -2 : Continuity should exist when pushing the
switch.
continuity should not exist when releasing
the switch. C
D
PFIA0307E
Symptom 1 Excessive ABS Function Operation Frequency AFS0020L

E
BRC
● Sensor connector connection inspection G
OK or NG
OK >> GO TO 2. H
2. CHECK FRONT AND REAR AXLE I

Make sure there is no excessive play in front and rear axles.
OK or NG
J
OK >> GO TO 3.
NG >> Repair.
3. CHECK ABS WARNING LAMP DISPLAY K
Make sure ABS warning lamp turns OFF approximately 2 sec. After ignition switch is turned on or when driv-
ing. L
OK or NG
OK >> Normal
NG >> Perform self-diagnosis. Refer to BRC-114, "SELF-DIAGNOSIS" . M
Symptom 2 Unexpected Pedal Reaction AFS0020M
1. CHECK BRAKE PEDAL STROKE

Check brake pedal stroke.
Is the stroke too long?
● Check the brake pedal, brake booster, and master cylinder mount for play, looseness, and
brake system for fluid leaks, etc. If any malfunctions are found, make repair.
NO >> GO TO 2.
2. CHECK PEDAL FORCE

Check that brake is effective with pedal depressed.
Is pedal heavy, but affective?
YES >> Normal
NO >> GO TO 3
TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. PERFORMANCE CHECK
Disconnect ABS actuator and electric unit (control unit) connector E24 and make sure the braking force us
sufficient when ABS in not operating. After the inspection, reconnect connector.
OK or NG
OK >> GO TO 4.
NG >> Check brake system.

Make sure ABS warning lamp turns OFF approximately 2 sec. After ignition switch is turned ON or when driv-
ing.
OK or NG
OK >> Normal
NG >> GO TO 5

OK or NG
OK >> Normal
Symptom 3 The Braking Distance Is Long AFS0020N
CAUTION:
On slippery road surfaces, the stopping distance might be longer with ABS operating than when ABS
is not operating.
Disconnect ABS actuator and electric unit (control unit) connector E24 to deactivate ABS. In this condition,
check stopping distance. After inspection, connect connector.
Is stopping distance still long?
● Check brake system.
NO >> GO TO 2.

Make sure ABS warning lamp turns OFF approximately 2 sec. After ignition switch is turned ON or when driv-
ing.
OK or NG
OK >> Normal
NG >> GO TO 3

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
3. CHECK WHEEL SENSOR A
● Sensor rotor mount and damage inspection B
C
OK or NG
OK >> Normal
D
Symptom 4 ABS Function Does Not Operate AFS0020O
CAUTION:
ABS does not operate when vehicle speed is 10 km/h (6 MPH) or less. E
Make sure ABS warning lamp turns OFF approximately 2 second after ignition switch is turned on or when BRC
driving.
OK or NG
OK >> GO TO 2. G
2. CHECK WHEEL SENSOR H

I
● Sensor harness inspection J
OK or NG
OK >> Normal
NG >> Sensor or sensor rotor replacement K
Symptom 5 Pedal Vibration or ABS Operation Sound Occurs AFS0020P
CAUTION: L
Under the following conditions, when brake pedal is lightly depressed (just place a foot on it), ABS is
activated and vibration is felt. However, this is normal.
● When shifting gears
M
● When driving on slippery road
● During cornering at high speed
● When passing over bumps or grooves.
● When pulling away just after starting engine (at approximately 10 km/h (6MPH) or higher)
1. SYMPTOM CHECK 1
Check if pedal vibration or operation sound occurs when engine is started.
OK or NG
OK >> Perform self-diagnosis. Refer to BRC-114, "SELF-DIAGNOSIS" .
NG >> GO TO 2.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. INSPECTION (1)
Does vibration occur during normal parking?
CAUTION:
In addition to activation for sudden braking, ABS may activate in conditions such as those listed
below.
● Roads with low surface.
● Turning at high speed.
● Passing through gusts of wind.
OK or NG
OK >> GO TO 3.
NG >> Normal
3. INSPECTION (2)
Check for vibration when engine speed is increased while vehicle is stopped.
OK or NG
OK >> GO TO 4
NG >> ● Normal
CAUTION:
Vibration may occur when vehicle is stopped.
4. INSPECTION (3)
Check for vibration when switches of electrical components are operated.
OK or NG
OK >> Check for any wireless devices, or antenna lead near control unit (including wiring).
NG >> GO TO 5.
5. CHECKING ABS WARNING LAMP INDICATION

Confirm ABS warning lamp turns on.
OK or NG
OK >> Execute self-diagnosis.
NG >> GO TO 6.
6. CHECK WHEEL SENSORS

Inspect wheel sensor system.
● Sensor mounting inspection.
● Sensor pick-up inspection for iron chips.
● Sensor connector engagement inspection.
● Inspection of wheel sensor circuit.
OK of NG
OK >> Normal
NG >> Repair wheel sensor and sensor rotor system.
Symptom 6 Vehicle Jerks During VDC/TCS/ABS Control AFS0020Q
1. CHECK ENGINE SPEED SIGNAL

Conduct CONSULT-II ABS actuator and electric unit (control unit) “Data Monitor”.
Is engine speed at idle 400 rpm or higher?
YES >> Normal.
NO >> GO TO 2.

TROUBLE DIAGNOSIS
[VDC/TCS/ABS]
2. CHECK ABS WARNING LAMP DISPLAY A
Make sure ABS warning lamp turns OFF approximately 2 sec. After ignition switch is turned on or when driv-
ing.
OK or NG B
OK >> GO TO 3.
C
3. CHECK ECM SELF-DIAGNOSIS RESULT ITEM
Perform ECM self-diagnosis.
D
Are self-diagnosis items displayed?
YES >> Check the corresponding items. Refer to EC-92, "TROUBLE DIAGNOSIS" in “Engine Control
(EC section)”.
NO >> GO TO 4. E
4. CHECK CVT SELF-DIAGNOSIS RESULTS ITEM

BRC
Perform CVT self-diagnosis.
OK or NG
OK >> GO TO 6. G
NG >> Check the corresponding items. Refer to CVT-49, "TROUBLE DIAGNOSIS" in “CVT”.
5. SELF-DIAGNOSIS RESULT ITEM INSPECTION 1 H

Conduct self-diagnosis of ABS actuator and electric unit (control unit).
YES >> Check the corresponding items, make repairs, and re-conduct ABS actuator and electric unit I
(control unit) self-diagnosis.
NO >> GO TO 7.
J
6. CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) E24 and the ECM connector, check terminals for
deformation, disconnection, looseness, and so on. If there is an error, repair or replace connector. K
2. Securely reconnect connector and conduct self-diagnosis.
OK or NG
L
OK >> If connector terminal contact is loose, damaged, open or shorted, repair or replace connector ter-
minal.
NG >> GO TO 7.
M
7. SELF-DIAGNOSIS RESULT ITEM INSPECTION 2
Re-conduct the self-diagnosis.
YES >> Repair or replace any malfunction items.
NO >> GO TO 8.
8. CHECK OF CIRCUIT BETWEEN ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) AND THE
ECM
Check CAN communication system. Refer to BRC-139, "Inspection 13 CAN Communication System" .
OK or NG
NG >> Connect connectors, and re-conduct ABS actuator and electric unit (control unit) self-diagnosis.

WHEEL SENSORS
[VDC/TCS/ABS]
WHEEL SENSORS PFP:47910
Removal and Installation AFS0020R
PFIA0417E
REMOVAL
Pay attention to the following when removing wheel sensor.
CAUTION:
● As much as possible, avoid rotating wheel sensor when removing it. Pull wheel sensors out with-
out pulling on sensor harness.
● Take care to avoid damaging wheel sensor edges or rotor teeth. Remove wheel sensor first before
removing front or rear wheel hub. This is to avoid damage to wheel sensor wiring and loss of sen-
sor function.
INSTALLATION
Pay attention to the following when installing wheel sensor. Tighten installation bolts and nuts to the specified
torques.
● When installing, make sure there is no foreign material such as iron chips on and in the mounting hole of
the wheel sensor. Make sure no foreign material has been caught in the sensor rotor. Remove any foreign
material and clean the mount.
● When installing wheel sensor, be sure to press rubber grommets in until they lock at locations shown
above in figure. When installed, harness must not be twisted.

SENSOR ROTOR
[VDC/TCS/ABS]
SENSOR ROTOR PFP:47970
A
Removal and Installation AFS0020S
REMOVAL
Front B
Rear C
Sensor rotor cannot be disassembled. To replace sensor rotor, replace hub bearing assembly. Refer to RAX-5,
INSTALLATION D
Front
E
Rear
Sensor rotor cannot be disassembled. To replace sensor rotor, replace hub bearing assembly. Refer to RAX-5, BRC

[VDC/TCS/ABS]
ACTUATOR AND ELECTRIC UNIT (ASSEMBLY) PFP:47660
Removal and Installation AFS001ZU
PFIA0418E
1. To front left 2. To rear right 3. To rear left

From master cylinder secondary
4. To front right 5. 6. From master cylinder primary side
side
ABS actuator and electric unit (con-
7. 8. Harness connector
trol unit)
Pay attention to the following when removing actuator.

CAUTION:
● If the part number on the part number label (pasted on actuator upper surface) is the same, VDC/
TCS/ABS actuator (integrated in control unit, part No. : 47660 *****) cannot be used on another
vehicle.
If it is used on another vehicle, ABS warning lamp, SLIP indicator lamp, VDC OFF indicator lamp
may turn ON or VDC/TCS/ABS may not operate normally.
When replacing VDC/TCS/ABS actuator (integrated in control unit), must use new service parts.
● Before servicing, disconnect battery cables.
● To remove brake tube, use flare nut wrench to prevent flare nuts and brake tube from being dam-
aged. To install, use flare nut wrench (commercial service tool).
● Do not remove and install actuator by holding harness.
● After work is completed, bleed air from brake piping. Refer to BR-12, "Bleeding Brake System" .
NOTE:
● After performing above works, calibrate decel G-sensor (AWD model). Refer to BRC-71, "Calibration of
Decel G Sensor" .

[VDC/TCS/ABS]
● In the case that ABS actuator and electric unit (control unit) are replaced, make sure to adjust position of
steering angle sensor. Refer to BRC-70, "Adjustment of Steering Angle Sensor Neutral Position" . A
BRC

G SENSOR
[VDC/TCS/ABS]
G SENSOR PFP:47930
Removal and Installation AFS001BY
REMOVAL
1. Remove center console. Refer to IP-17, "CENTER CONSOLE
ASSEMBLY" .
2. Disconnect harness connector.
3. Remove installation nuts. Remove yaw rate/side/decel G-sen-
sor.
CAUTION:
● Do not drop or strike the yaw rate/side/decel G-sensor,
because it has little endurance to impact.
● Do not use power tool etc., because Yaw rate/side/decel G
sensor is weak for the impact. PFIA0450E
INSTALLATION
Install in the revers order of removal.
CAUTION:
● Do not drop or strike the yaw rate/side/decel G-sensor, because it has little endurance to impact.
NOTE:
● After performing above work, calibrate decel G-sensor (AWD model). Refer to BRC-71, "Calibration of
Decel G Sensor" .

STEERING ANGLE SENSOR
[VDC/TCS/ABS]
STEERING ANGLE SENSOR PFP:25554
A
Refer to SRS-38, "SPIRAL CABLE" .

NOTE: B
● Steering angle sensor is built into the spiral cable.
● In the case that ABS actuator and electric unit (control unit) are replaced, make sure to adjust position of
steering angle sensor. Refer to BRC-70, "Adjustment of Steering Angle Sensor Neutral Position" . C
BRC

STEERING ANGLE SENSOR
[VDC/TCS/ABS]

Brake Control System: Section

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BRAKE CONTROL SYSTEM

Revision; 2004 April BRC-1 2003 Murano

Revision; 2004 April BRC-2 2003 Murano

Revision; 2004 April BRC-3 2003 Murano

Precautions for Brake System AFS001ZN

● Recommended fluid is brake fluid “DOT 3”.

Revision; 2004 April BRC-4 2003 Murano

Tool name Description

1.Flare nut crowfoot

Revision; 2004 April BRC-5 2003 Murano

System Diagram AFS0018F

System Component Parts AFS0018G

1. Sensor rotor (FR) 2. Wheel sensor (FR) 3. Wheel sensor (FL)

Revision; 2004 April BRC-6 2003 Murano

ABS, EBD SYSTEM

Revision; 2004 April BRC-7 2003 Murano

Revision; 2004 April BRC-8 2003 Murano

CAN Communication Unit For 2WD Models AFS00214

Body type Wagon D

Revision; 2004 April BRC-9 2003 Murano

Revision; 2004 April BRC-10 2003 Murano

Revision; 2004 April BRC-11 2003 Murano

Revision; 2004 April BRC-12 2003 Murano

Engine and CVT integrated control T R BRC

Revision; 2004 April BRC-13 2003 Murano

Revision; 2004 April BRC-14 2003 Murano

Revision; 2004 April BRC-15 2003 Murano

Revision; 2004 April BRC-16 2003 Murano

Revision; 2004 April BRC-17 2003 Murano

Engine and CVT integrated control T R

Revision; 2004 April BRC-18 2003 Murano

Revision; 2004 April BRC-19 2003 Murano

Body type Wagon

TYPE 17/TYPE 18/TYPE 19/TYPE 20/TYPE 21/TYPE 22/TYPE 23/TYPE 24

Revision; 2004 April BRC-20 2003 Murano

Revision; 2004 April BRC-21 2003 Murano

Revision; 2004 April BRC-22 2003 Murano

Revision; 2004 April BRC-23 2003 Murano

Revision; 2004 April BRC-24 2003 Murano

Turn indicator signal T R

Engine and CVT integrated control T R

Revision; 2004 April BRC-25 2003 Murano

Revision; 2004 April BRC-26 2003 Murano

Revision; 2004 April BRC-27 2003 Murano

Revision; 2004 April BRC-28 2003 Murano

Revision; 2004 April BRC-29 2003 Murano

Revision; 2004 April BRC-30 2003 Murano

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

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

Revision; 2004 April BRC-31 2003 Murano

Revision; 2004 April BRC-32 2003 Murano

EXAMPLE OF DIAGNOSIS SHEET

Revision; 2004 April BRC-33 2003 Murano

Revision; 2004 April BRC-34 2003 Murano

Revision; 2004 April BRC-35 2003 Murano

Revision; 2004 April BRC-36 2003 Murano

Revision; 2004 April BRC-37 2003 Murano

Revision; 2004 April BRC-38 2003 Murano

Revision; 2004 April BRC-39 2003 Murano