DESCRIPTION ABS

To ESM Schematic

Schematic NJBR0197

YBR502

BR-1
 DESCRIPTION ABS
Wiring Diagram — ABS —
To ESM
Wiring Diagram — ABS — NJBR0198

YBR503

BR-2
DESCRIPTION ABS
Wiring Diagram — ABS — (Cont’d)

YBR462

BR-3
 DESCRIPTION ABS
Wiring Diagram — ABS — (Cont’d)

YBR463

BR-4
 TROUBLE DIAGNOSIS — BASIC INSPECTION ABS
To ESM ABS Actuator and Electric Unit

ABS Actuator and Electric Unit NJBR0204

Disconnect each ABS actuator and electric unit, E217 connector.
Confirm continuity and resistance value between each pair of ABS
actuator and electric unit harness connector.
CAUTION:
Be sure ABS motor is securely grounded.

YBR484

Basic Inspection 1 Brake Fluid Level and

Leakage Inspection NJBR0205
1. Check fluid level in brake reservoir tank. If fluid level is low,
refill brake fluid.
2. Check area around brake piping and ABS actuator and elec-
tric unit for leaks. If a leak or oozing is detected, check as fol-
lows:
‰ If connections at ABS actuator and electric unit are loose,
tighten piping to the specified torque. Then check again for
leaks, and be sure there is no fluid leak.
‰ If the flare nuts at the connections and the threads of the ABS
actuator and electric unit are damaged, replace the damaged
parts. Then check again for leaks, and make sure that there is
no fluid leak.
‰ If leak or oozing is detected except for ABS actuator and elec-
tric unit connections, wipe it with clean cloth. Then check again
for leaks. If there is still leak or oozing, replace damaged part.
‰ If leak or oozing is detected on ABS actuator and electric unit,
wipe with a clean cloth. Check again for leaks, and if there is
still leak or oozing, replace ABS actuator and electric unit.
CAUTION:
ABS actuator and electric unit body cannot be disassembled.

Basic Inspection 2 Inspection for Loose Power

Supply Terminal NJBR0206
Check battery for looseness on battery positive/negative terminals
and ground connection.

BR-5
 TROUBLE DIAGNOSIS — BASIC INSPECTION ABS
Basic Inspection 3 ABS Warning Lamp Inspection

Basic Inspection 3 ABS Warning Lamp

Inspection NJBR0207
1. Be sure ABS warning lamp turns on when ignition switch is
turned ON. If it does not turn on, check CAN communications.
Refer to BR-9 in this SMA file. If there are no errors with CAN
communications, check ABS warning lamp harness.
2. Be sure ABS warning lamp turns off after approximately 1
second when ignition switch is turned ON. If it does not turn off,
perform self-diagnosis.
3. After driving the vehicle at Approx. 30 km/h (19 MHP) for a few
seconds, check ABS warning lamp do not illuminate.
4. After completing the self-diagnosis, always erase the diagno-
sis memory.

BR-6
 TROUBLE DIAGNOSES FOR SELF-DIAGNOSTIC ITEMS ABS
To ESM Wheel Sensor System

Wheel Sensor System NJBR0208

1 TIRE INSPECTION
Check air pressure, wear, and size.
Are air pressure, wear, and size within specifications?
Yes GO TO 2.
No Adjust air pressure, or replace tire.

2 SENSOR ROTOR INSPECTION

Check sensor rotor tooth for damage.
OK or NG
OK GO TO 3.
NG Replace sensor rotor.

3 CHECK THE CONNECTOR

1. Remove both the malfunctioning wheel sensor (identified at control unit) and the ABS actuator and electric unit connec-
tor. Check the deformation of the terminal or if the connection is at the incomplete state. Then connect the connectors.
2. Operate self-diagnosis.

YBR485

Does ABS warning lamp illuminate?

Yes GO TO 4.
No Check is completed.

BR-7
 TROUBLE DIAGNOSES FOR SELF-DIAGNOSTIC ITEMS ABS
Wheel Sensor System (Cont’d)

4 CHECK WHEEL SENSOR

1. Disconnect wheel sensor connector.
2. Check internal resistance of wheel sensor.
Resistance: 1.44 - 1.76 kΩ

SFIA0419E

OK or NG
OK GO TO 5.
NG Replace wheel sensor.

5 CHECK WHEEL SENSOR CIRCUIT

1. Disconnect control unit connector.
2. Check continuity between the ABS actuator and electric unit harness connector and wheel sensor harness connector.

YBR486

OK or NG
OK Replace ABS actuator and electric unit.
NG Repair or replace the harness.

Combination Meter NJBR0209

Refer to EL-126 on ESM.

BR-8
 TROUBLE DIAGNOSES FOR SELF-DIAGNOSTIC ITEMS ABS
ABS Actuator and Electric Unit Connector Connection

ABS Actuator and Electric Unit Connector

Connection NJBR0210

1 ABS ACTUATOR AND ELECTRIC UNIT CONNECTOR CONNECTION INSPECTION

Check ABS actuator and electric unit connector for proper connection.
OK or NG
OK GO TO 2.(ABS actuator and electric unit connector is properly connected.)
NG Connect the ABS actuator and electric unit connector and perform inspection again.

2 USING CONSULT-II, PERFORM SELF-DIAGNOSIS

Connect the CONSULT-II and perform self-diagnosis.
OK or NG
OK Normal (No self-diagnosis malfunction indicated.)
NG Perform inspection according to the trouble codes displayed on the CONSULT-II. Refer
to the “DTC chart”.

CAN Communication Lines NJBR0211

1 CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector, check terminal for deformation disconnection,
looseness, and so on. If there is an error, repair or replace the terminal.
2. Securely reconnect connector and perform self-diagnosis.
Is “CAN COMM CIRCUIT” displayed in self-diagnosis display items?
Yes Print out self-diagnosis results and go to 2.
No Connector terminal connection is loose, damaged, open or shorted.

2 CHECK CAN COMMUNICATION SYSTEM

Check data monitor item “CAN DIAG SUPPORT MNTR”.

MTBL1847

After printing out the monitor item, go to CAN system. Refer to EL-546 on ESM.

BR-9
 TROUBLE DIAGNOSES FOR SYMPTOMS ABS
1. ABS Works Frequently

To ESM 1. ABS Works Frequently NJBR0212

1 INSPECTION START
Check the wheel sensor system.
‰ Sensor mounting inspection
‰ Sensor pick-up inspection for iron chips
‰ Sensor rotor inspection (e.g. Number of teeth, damaged teeth)
‰ Sensor connector engagement inspection
OK or NG
OK GO TO 2.
NG Refer to wheel sensor and rotor lines.

2 LOOSENESS INSPECTION
Check the front and rear axle for looseness.
OK or NG
OK BR-10 in this SMA file, “2. Unexpected Pedal Action”
NG Axle inspection and repair

2. Unexpected Pedal Action NJBR0213

1 BRAKE PEDAL STROKE INSPECTION

Check the brake pedal stroke.
Is stroke excessively long?
Yes Check the bleeding and brake system.
No GO TO 2.

2 PEDAL FORCE INSPECTION

Check that the brake is effective with the pedal depressed.
Is the pedal heavy, but effective?
Yes Normal
No GO TO 3.

3 CONNECTOR AND PERFORMANCE INSPECTION

Disconnect the actuator relay unit connector to deactivate the ABS function. Check that the brake is effective.
Is the brake effective?
Yes GO TO 4.
No Brake line inspection

4 ABS WARNING LAMP INDICATOR INSPECTION

Check that the ABS warning lamp illuminates.
Does the ABS warning lamp illuminate?
Yes Perform the self-diagnosis.
No GO TO 5.

BR-10
 TROUBLE DIAGNOSES FOR SYMPTOMS ABS
2. Unexpected Pedal Action (Cont’d)

5 WHEEL SENSOR INSPECTION

Check the wheel sensor system.
‰ Sensor mounting inspection
‰ Sensor pick-up inspection for iron chips
‰ Sensor rotor inspection (e.g. Number of teeth, damaged teeth)
‰ Sensor connector engagement inspection
OK or NG
OK Normal
NG Wheel sensor and rotor lines repair

3. Longer Stopping Distance NJBR0214

1 INSPECTION START
Check that the stopping distance when braking becomes longer only on a snowy or gravel road.
Does the stopping distance when braking become longer only on a snowy or gravel road?
Yes It may be longer than that of vehicle without ABS.
No GO TO 2.

2 PERFORMANCE CHECK
Disconnect the actuator relay box to deactivate the ABS function.
Is the stopping distance still longer?
Yes ‰ Brake line air bleeding
‰ Brake line inspection
No GO TO 3.

3 ABS WARNING LAMP INDICATOR INSPECTION

Check that the ABS warning lamp illuminates.
Does the ABS warning lamp illuminate?
Yes Perform the self-diagnosis.
No GO TO 4.

4 WHEEL SENSOR INSPECTION

Check the wheel sensor system.
‰ Sensor mounting inspection
‰ Sensor pick-up inspection for iron chips
‰ Sensor rotor inspection (e.g. Number of teeth, damaged teeth)
‰ Sensor connector engagement inspection
OK or NG
OK Normal
NG Wheel sensor and rotor lines repair

BR-11
 TROUBLE DIAGNOSES FOR SYMPTOMS ABS
4. ABS Does Not Work

4. ABS Does Not Work NJBR0215

1 ABS WARNING LAMP INDICATOR INSPECTION

Check that the ABS warning lamp illuminates.
Does the ABS warning lamp illuminate?
Yes Perform the self-diagnosis.
No GO TO 2.

2 WHEEL SENSOR INSPECTION

Check the wheel sensor system.
‰ Sensor mounting inspection
‰ Sensor pick-up inspection for iron chips
‰ Sensor rotor inspection (e.g. Number of teeth, damaged teeth)
‰ Sensor connector engagement inspection
OK or NG
OK Normal
NG Wheel sensor and rotor lines repair

5. Pedal Vibration and Noise NJBR0216

1 SYMPTOM CHECK
Check the brake system for pedal vibration or noise at the engine start.
OK or NG
OK Perform the self-diagnosis.
NG GO TO 2.

2 SYMPTOM CHECK 2
Check the brake system for pedal vibration or noise when the pedal depressed lightly (just put a foot on).
CAUTION:
Under the following driving conditions, the wheel speed will fluctuates, resulting in ABS activation.
‰ When shifting gears
‰ High speed cornering
‰ When a gust of wind
OK or NG
OK GO TO 3.
NG Normal

3 SYMPTOM CHECK 3
Does the symptom appear during normal braking operation?
CAUTION:
ABS may work in following driving conditions even if there is no sudden brake.
‰ When road friction is low.
‰ High speed cornering
‰ When a gust of wind
OK or NG
OK GO TO 4.
NG Normal

BR-12
 TROUBLE DIAGNOSES FOR SYMPTOMS ABS
5. Pedal Vibration and Noise (Cont’d)

4 SYMPTOM CHECK 4
Check that the symptom is reproduce when the engine speed is increased with the vehicle stopped.
OK or NG
OK GO TO 5.
NG ‰ Normal.
CAUTION:
This symptom may appear with vehicle stopped.

5 SYMPTOM CHECK 5
Check that the symptom is reproduce when any switch of electrical equipment is operated.
OK or NG
OK Check that there are no radio, antenna, and antenna lead-in wires (including wiring) near
control unit.
NG GO TO 6.

6 ABS WARNING LAMP INSPECTION

Check that the ABS warning lamp turns on.
OK or NG
OK Perform the self-diagnosis.
NG GO TO 7.

7 WHEEL SENSOR INSPECTION

Check the wheel sensor system.
‰ Sensor mounting inspection
‰ Sensor pick-up inspection for iron chips (e.g. Number of teeth, damaged teeth)
‰ Sensor connector engagement inspection
‰ Wheel sensor path harness and connector inspection
OK or NG
OK Normal
NG Wheel sensor and rotor lines repair

BR-13
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Schematic

To ESM Schematic NJBR0231

YBR504

BR-14
 TROUBLE DIAGNOSIS ESP/TCS/ABS
To ESM Wiring Diagram — ESP/TCS/ABS —

Wiring Diagram — ESP/TCS/ABS — NJBR0232

YBR505

BR-15
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Wiring Diagram — ESP/TCS/ABS — (Cont’d)

YBR465

BR-16
TROUBLE DIAGNOSIS ESP/TCS/ABS
Wiring Diagram — ESP/TCS/ABS — (Cont’d)

YBR506

BR-17
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Wiring Diagram — ESP/TCS/ABS — (Cont’d)

YBR507

BR-18
TROUBLE DIAGNOSIS ESP/TCS/ABS
Wiring Diagram — ESP/TCS/ABS — (Cont’d)

YBR528

BR-19
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Basic Inspection

To ESM Basic Inspection NJBR0236

BASIC INSPECTION 1 BRAKE FLUID LEVEL, LEAKS,
AND BRAKE PADS NJBR0236S01
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 elec-
tric unit (control unit) for leaks. If leakage or 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.
‰ 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) connection, wipe away
leakage or seepage with clean cloth. Then inspect again and
confirm the there is no 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 body cannot be disassembled.
3. Check brake disc and pads. Refer to BR-30 on ESM in “Front
Disc Brake” and BR-34 on ESM in “Rear Disc Brake”.
BASIC INSPECTION 2 POWER SYSTEM TERMINAL
LOOSENESS AND BATTERY INSPECTION NJBR0236S02
Make sure the battery positive cable, negative cable and ground
connection are not loose. If looseness is detected, tighten the pip-
ing to the specified torque. In addition, check the battery voltage to
make sure it has not dropped and the altimeter is normal.
BASIC INSPECTION 3 ABS WARNING LAMP, ESP OFF
INDICATOR LAMP, SLIP INDICATOR LAMP
INSPECTION NJBR0236S03
1. Check that ABS warning lamp, ESP OFF indicator lamp (when
ESP OFF switch is OFF), and SLIP indicator lamp turns ON
approximately 2 second when ignition switch is turned ON. If
they do not, check the ESP OFF indicator lamp and then ESP
OFF switch. Refer to BR-40 in this SMA file. Check CAN com-
munications. Refer to BR-38 in this SMA file. If there are no
errors with ESP OFF switch and CAN communication system,
check ABS warning lamp, ESP OFF indicator lamp, SLIP indi-
cator lamp and combination meter. Refer to EL-40 on ESM.
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.
3. With engine running, make sure ESP OFF indicator lamp turns
ON and OFF when ESP OFF switch is turned ON and OFF. If
the indicator lamp status does not correspond to switch
operation, check ESP OFF switch system. Refer to BR-40 in
this SMA file.
4. Make sure ABS warning lamp, ESP OFF indicator lamp, and
SLIP indicator lamp turns OFF 2 seconds after engine is
started. If ABS warning lamp, ESP OFF indicator lamp, and

BR-20
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Basic Inspection (Cont’d)
SLIP indicator lamp have not turned off 10 seconds after
engine has been started, conduct self-diagnosis of ABS actua-
tor and electric unit (control unit).
5. After conducting self-diagnosis, be sure to erase the error
memory. Refer to GI-35 on ESM.

Inspection 1 Wheel Sensor System NJBR0237

After using the CONSULT-II SELF-DIAG RESULTS to determine
positions of malfunctioning wheel sensor, check all areas to deter-
mine the component to be replaced.
CAUTION:
‰ Do not measure the resistance value and also voltage
between sensor terminal with tester etc., because e sen-
sor is an active sensor.
‰ Do not expand terminal of connector with a tester termi-
nal stick, when it does the inspection with the tester.
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

SFIA0625E

MTBL1603

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

BR-21
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 1 Wheel Sensor System (Cont’d)

2 CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E218 and the malfunctioning wheel sensor connector
E226 (FR - LH) or E228 (FR - RH) or B104 (RR - LH), B103 (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 at a speed of
30 km/h (19 MPH) or above for at least 1 minute, and perform self-diagnosis.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

3 CHECK WHEEL SENSOR HARNESS

1. Turn ignition switch OFF and disconnect the wheel sensor connector E226 (FR - LH), E228 (FR - RH), B104 (RR - LH),
B103 (RR - RH) and ABS actuator and electric unit (control unit) connector E218.

YBR488
2. Check continuity between terminals. (Also check continuity when steering wheel is turned right and left and when sen-
sor harness inside the wheel well is moved.)

MTBL1848
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.

BR-22
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 1 Wheel Sensor System (Cont’d)

5 CHECK SENSOR AND SENSOR ROTOR

Check the following:
‰ Condition of sensor mount (for looseness, etc.)
‰ Surface of front sensor rotor rubber for damage
‰ Rear sensor rotor for damage
OK or NG
OK GO TO 6.
NG Repair or replace the malfunctioning component.

6 CHECK WHEEL SENSOR POWER SUPPLY CIRCUIT

1. Connect the wheel sensor connector E226 (FR - LH), E228 (FR - RH), B104 (RR - LH), B103 (RR - RH) and ABS
actuator and electric unit (control unit) connector E218.

YBR489
2. Turn ignition switch ON and check voltage between power supply terminal and ground.
Voltage
Front RH 1 (W) - Ground: 8 V or more
Front LH 1 (R) - Ground: 8 V or more
Rear RH 1 (PU) - Ground: 8 V or more
Rear LH 1 (P) - Ground: 8 V or more
OK or NG
OK Replace wheel sensor.
NG Replace the ABS actuator and electric unit (control unit).

BR-23
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 2 Engine System

Inspection 2 Engine System =NJBR0238

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1605

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK ENGINE SYSTEM

1. Perform an ECM self-diagnosis and repair or replace any malfunction items. Perform the ECM self-diagnosis.
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
OK or NG
OK INSPECTION END
NG Repair or replace any malfunction items. Perform self-diagnosis again.

Inspection 3 ESP/TCS/ABS Control Unit

System NJBR0239
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1606

Is above displayed in self-diagnosis display items?

Yes Replace ABS actuator and electric unit (control unit). Perform self-diagnosis again.
No INSPECTION END

BR-24
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 4 Pressure Sensor System

Inspection 4 Pressure Sensor System NJBR0240

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1607

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect pressure sensor connector E227 and ABS actuator and electric unit (control unit) connector E218, check
terminals for deformation, disconnection, looseness, and so on. If there is an error, repair or replace terminal.
2. Reconnect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis again.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

3 CHECK PRESSURE SENSOR HARNESS

1. Turn ignition switch OFF and disconnect pressure sensor connector E227 and ABS actuator and electric unit (control
unit) connector E218.
2. Check continuity between ABS actuator and electric unit (control unit) connector and pressure sensor connector.

YBR490

MTBL1608

OK or NG
OK GO TO 4.
NG Repair or replace harness.

BR-25
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 4 Pressure Sensor System (Cont’d)

4 PRESSURE SENSOR INSPECTION

1. Connect pressure sensor connector E227 and ABS actuator and electric unit (control unit) connectors E218.
2. Use “Data Monitor” to check the pressure sensor value.

MTBL1609

OK or NG
OK INSPECTION END
NG Pressure sensor is damaged or malfunctioning, replace pressure sensor.

Inspection 5 Steering Angle Sensor System NJBR0241

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1610

Is above displayed in self-diagnosis item?

Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect steering angle sensor connector M187 and ABS actuator and electric unit (control unit) connector E218 and
check terminals for deformation, disconnection, looseness, and so on. If there is an error, repair or replace terminal.
2. Reconnect connectors and perform an ABS actuator and electric unit (control unit) self-diagnosis again.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

BR-26
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 5 Steering Angle Sensor System (Cont’d)

3 CHECK STEERING ANGLE SENSOR HARNESS

1. Check CAN communication system. Refer to BR-38 in this SMA file.
2. Turn ignition switch OFF and disconnect steering angle sensor connector M187 and ABS actuator and electric unit
(control unit) connector E218.

YBR491
3. Check continuity between ABS actuator and electric unit (control unit) connector terminal and steering angle sensor
connector terminal.

MTBL1611

OK or NG
OK GO TO 4.
NG Repair or replace harness.

4 CHECK STEERING WHEEL PLAY

Check steering wheel play. Refer to ST-6 on ESM.
OK or NG
OK GO TO 5.
NG Adjust steering wheel play.

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.

MTBL1612

OK or NG
OK Perform ABS actuator and electric unit (control unit) self-diagnosis again.
NG Replace spiral cable (steering angle sensor) and adjust neutral position of steering angle
sensor. Refer to BR-86 on ESM.

BR-27
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 6 Yaw Rate/Side G Sensor System

Inspection 6 Yaw Rate/Side G Sensor System NJBR0242

CAUTION:
Sudden turns (such as spin turns, acceleration turns), drifting,
etc. may cause yaw rate/side G sensor system indicate a mal-
function. However this is not a malfunction if normal operation
can be resumed after restarting engine.
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1613
CAUTION:
When on a turntable, such as at a parking structure entrance, or when on a moving object with engine running,
the ESP OFF indicator lamp might turn on and self-diagnosis using the CONSULT-II yaw rate sensor system mal-
function might be displayed, but in this case there is no problem with yaw rate/side G sensor system. As soon as
the vehicle leaves the turntable or moving object, restart engine to return the system to normal.
Is above displayed in self-diagnosis display items?
Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect yaw rate/side G sensor connector M199 and ABS actuator and electric unit (control unit) connector E218
and check terminals for deformation, disconnection, looseness, and so on. If there is an error, repair or replace termi-
nal.
2. Reconnect connectors and perform an ABS actuator and electric unit (control unit) self-diagnosis again.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

BR-28
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 6 Yaw Rate/Side G Sensor System (Cont’d)

3 CHECK YAW RATE SENSOR/SIDE G SENSOR HARNESS

1. Turn ignition switch OFF and disconnect yaw rate/side G sensor connector M199 and ABS actuator and electric unit
(control unit) connector E218.

YBR492
2. Check continuity between ABS actuator and electric unit (control unit) connector and yaw rate/side G sensor connector.

MTBL1779

OK or NG
OK GO TO 4.
NG Repair or replace harness.

4 CHECK YAW RATE SENSOR/SIDE G SENSOR

1. Connect yaw rate/side G sensor M199 and ABS actuator and electric unit (control unit) connector E218.
2. Use “Data Monitor” to check if yaw rate sensor/side/decel G sensor are normal.

MTBL1615

OK or NG
OK Perform ABS actuator and electric unit (control unit) self-diagnosis again.
NG Replace the malfunctioning yaw rate sensor/side G sensor, and then perform ABS actua-
tor and electric unit (control unit) self-diagnosis again.

BR-29
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 7 Solenoid and ESP Change-over Valve System

Inspection 7 Solenoid and ESP Change-over

Valve System NJBR0243
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1616

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect ABS actuator and electric unit (control unit) connector E218 check terminals for deformation, disconnection,
looseness, and so on. If there is an error, repair or replace terminal.
2. Securely reconnect connectors and perform self-diagnosis.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

BR-30
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 7 Solenoid and ESP Change-over Valve System (Cont’d)

3 CHECK SOLENOID POWER AND GROUND CIRCUIT

1. Disconnect ABS actuator and electric unit (control unit) connector E218.
2. Check voltage between ABS actuator and electric unit (control unit) harness connector E218 and ground.

LFIA0148E

MTBL1617
3. Check resistance between ABS actuator and electric unit (control unit) harness connector E218 and ground.

LFIA0152E

MTBL1618

OK or NG
OK Perform self-diagnosis again. If the same results appear, replace ABS actuator and elec-
tric unit (control unit). Refer to BR-152 on ESM.
NG Repair harness or connectors.

BR-31
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 8 Actuator Motor, Motor Relay, and Circuit

Inspection 8 Actuator Motor, Motor Relay, and

Circuit =NJBR0244
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS (1)
Check self-diagnostic results.

MTBL1619

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK SELF-DIAGNOSTIC RESULTS (2)

1. Disconnect ABS actuator and electric unit (control unit) connector E218. Then reconnect it securely.
2. Perform self-diagnosis again.
Do any self-diagnosis items appear?
Yes GO TO 3.
No Repair or replace the applicable connector.

BR-32
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 8 Actuator Motor, Motor Relay, and Circuit (Cont’d)

3 CHECK ABS MOTOR AND MOTOR RELAY POWER SYSTEM

1. Disconnect ABS actuator and electric unit (control unit) connector E218.
2. Check voltage between ABS actuator and electric unit (control unit) connector E218 and ground.

LFIA0149E

MTBL1620
3. Check resistance between ABS actuator and electric unit (control unit) connector E218 and ground.

LFIA0147E

MTBL1621

OK or NG
OK Perform self-diagnosis again. If the same result appears, replace ABS actuator and elec-
tric unit (control unit). Refer to BR-152 on ESM.
NG Repair or replace harness or connectors.

BR-33
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 9 ABS Actuator and Electric Unit (Control Unit) Power Supply and Ground Circuit

Inspection 9 ABS Actuator and Electric Unit

(Control Unit) Power Supply and Ground
Circuit =NJBR0245
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1622

Does “BATTERY VOLTAGE” appear in self-diagnostic results display?

Yes GO TO 2.
No INSPECTION END

2 CHECK STARTING
1. Disconnect ABS actuator and electric unit (control unit) connector E218. Then reconnect it securely.
2. Perform self-diagnosis.
Do any self-diagnosis items appear?
Yes GO TO 3.
No Repair or replace connector.

3 CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY
1. Disconnect ABS actuator and electric unit (control unit) connector E218.
2. Turn ignition switch ON (but do not start engine). Check voltage between ABS actuator and electric unit (control unit)
harness connector E218 and ground.

LFIA0151E

MTBL1623

OK or NG
OK GO TO 4.
NG GO TO 5.

BR-34
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 9 ABS Actuator and Electric Unit (Control Unit) Power Supply and Ground Circuit (Cont’d)

4 CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUITS
Check ABS actuator and electric unit (control unit) ground circuits.

LFIA0152E

MTBL1624

OK or NG
OK Perform ABS actuator and electric unit (control unit) self-diagnosis again.
NG Repair harness or connectors.

5 CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SYSTEM
1. Disconnect ABS actuator and electric unit (control unit) connector E218.
2. Check continuity between battery positive terminal and ABS actuator and electric unit (control unit) connector E218.

YBR522

MTBL1625

OK or NG
OK Check for malfunction conditions in battery (terminal looseness, low voltage, etc.) and
alternator.
NG Repair or replace harness or connectors.

BR-35
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 10 Stop Lamp Switch System

Inspection 10 Stop Lamp Switch System =NJBR0246

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Check self-diagnostic results.

MTBL1626

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect the stop lamp switch connector M27 and ABS actuator and electric unit (control unit) connector E218 and
check terminals for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or replace ter-
minal.
2. Securely reconnect connectors.
3. Start engine.
4. Repeat pumping brake pedal carefully several times, then perform self-diagnosis again.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

3 CHECK STOP LAMP SWITCH CIRCUIT

1. Turn ignition switch OFF and disconnect stop lamp switch connector M27 and ABS actuator and electric unit (control
unit) connector E218.

YBR493
2. Check continuity between stop lamp switch harness connector M27 and ABS actuator and electric unit (control unit)
harness connector E218.

MTBL1849

OK or NG
OK Connect connectors and perform an ABS actuator and electric unit (control unit) self-di-
agnosis.
NG Repair or replace harness.

BR-36
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 11 Brake Fluid Level Sensor System

Inspection 11 Brake Fluid Level Sensor System =NJBR0247

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
1. Check the brake reservoir tank fluid level. If the level is low, add brake fluid.
2. Erase self-diagnostic results and check self-diagnostic results.

MTBL1628

Is above displayed in self-diagnosis display items?

Yes GO TO 2.
No INSPECTION END

2 CHECK CONNECTOR
1. Disconnect the brake fluid level sensor connector E78 and ABS actuator and electric unit (control unit) connector E218
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 perform self-diagnosis again.
OK or NG
OK Connector terminal contact is loose, damaged, open or shorted.
NG GO TO 3.

3 CHECK HARNESS BETWEEN THE BRAKE FLUID LEVEL SENSOR AND ABS ACTUATOR AND ELEC-
TRIC UNIT (CONTROL UNIT)
1. Turn ignition switch OFF and disconnect the brake fluid level sensor connector E78, ABS actuator and electric unit
(control unit) connector E218.

YBR494
2. Check continuity between the brake fluid level sensor connector E78 and ABS actuator and electric unit (control unit)
connector E218 and ground.

MTBL1781

OK or NG
OK Connect connectors and perform an ABS actuator and electric unit (control unit) self-di-
agnosis.
NG If there is an open or short in harness, repair or replace harness.

BR-37
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 12 When “ST ANG SEN SIGNAL” Appears on Self-diagnostic Results Display

Inspection 12 When “ST ANG SEN SIGNAL”

Appears on Self-diagnostic Results Display =NJBR0248
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS (1)
Check self-diagnostic results.

MTBL1630

Does anything besides “ST ANG SEN SIGNAL” appear on self-diagnostic results display?
Yes Inspect and repair the indicated items. Then perform self-diagnosis again.
No Adjust steering angle sensor neutral position. Then GO TO 2.

2 CHECK SELF-DIAGNOSTIC RESULTS (2)

Turin ignition switch OFF, and ON to erase self-diagnostic results, and perform ABS actuator and electric unit (control unit)
self-diagnosis again.
Does anything appear on self-diagnostic results display?
Yes Replace steering angle sensor. Then adjust neutral position and perform self-diagnosis
again.
No INSPECTION END

Inspection 13 CAN Communication System NJBR0249

INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS (1)
Check self-diagnostic results.

MTBL1631

Do self-diagnostic results indicate anything other than above?

Yes Repair or replace the item indicated.
No GO TO 2.

BR-38
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 13 CAN Communication System (Cont’d)

2 CHECK CONNECTORS AND HARNESS BETWEEN ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT) AND STEERING ANGLE SENSOR
1. Turn ignition switch OFF. Disconnect battery ground cable.
2. Disconnect ABS actuator and electric unit (control unit) connector E218 and steering angle sensor connector M187.
3. Check for open circuit and short circuits in harness between ABS actuator and electric unit (control unit) harness con-
nector E218 and steering angle sensor harness connector M187.
4. Check all control unit and sensor connectors, (Check for missing, bent, or collapsed terminals in terminal housing.)
OK or NG
OK GO TO 3.
NG Harness connector malfunction. Repair or replace. GO TO 3.

3 CHECK SELF-DIAGNOSTIC RESULTS (2)

1. Connect connectors to all control units and sensors.
2. Connect battery ground cable. Turn ignition switch ON.
3. Erase self-diagnostic results. Then start engine and perform self-diagnosis.
Does only “STEERING ANGLE SENSOR COMMUNICATION SYSTEM” appear on self-diagnostic results display?
Yes Replace spiral cable (steering angle sensor) and adjust steering angle sensor neutral
position. Refer to BR-86 on ESM.
No GO TO 4.

4 CAN COMMUNICATION SYSTEM CHECK

Check the data monitor item “CAN DIAG SUPPORT MNTR”.

MTBL1850

After printing out the monitor item, go to CAN system. Refer to EL-546 on ESM.

BR-39
 TROUBLE DIAGNOSIS ESP/TCS/ABS
Inspection 14 When “ESTM VEH SPD SIG” Appears on Self-diagnostic Results Display

Inspection 14 When “ESTM VEH SPD SIG”

Appears on Self-diagnostic Results Display =NJBR0250
INSPECTION PROCEDURE
1 CHECK SELF-DIAGNOSTIC RESULTS
Conduct an A/T self-diagnostic results.

MTBL1634

Does anything besides “ESTM VEH SPD SIG” appear on self-diagnostic results display?
Yes Check and repair the indicated items. Then perform self-diagnosis again.
No ‰ Erase A/T self-diagnosis. INSPECTION END.
NOTE:
If there is no error about ABS actuator and electric unit (control unit), “ESTM VHE
SPD SIG” may be displayed in A/T self-diagnosis depending on the timing of cranking.

Inspection 15 ESP OFF Indicator Lamp Does

Not Illuminate. NJBR0251
INSPECTION PROCEDURE
1 CHECK ESP OFF INDICATOR LAMP
Disconnect ABS actuator and electric unit (control unit) connector E218.
Do ABS warning lamp and ESP OFF indicator lamp illuminate?
Yes Malfunction in combination meter system. Inspect combination meter.
No Malfunction of ABS actuator and electric unit (control unit). Repair or replace control unit.

Component Inspection NJBR0252

ESP OFF SWITCH NJBR0252S01
‰ Turn ignition switch OFF, and disconnect the ESP OFF switch
connector E255 and check continuity between terminals 1 and
2.
1 - 2:
Continuity should exist when pushing the switch.
Continuity should not exist when releasing the
switch.
YBR376

BR-40