power steering NISSAN X-TRAIL 2003 Electronic Repair Manual

MODEL T30 SERIES
2001 NISSAN EUROPE N.V.
All rights reserved. No part of this Electronic Service Manual may be reproduced or stored in a retrieval system, or transmitted in any
form, or by any means, electronic, mechanical, photocopying, recording or otherwise, without the prior written permission of Nissan
Europe N.V., Paris, France.
A GENERAL INFORMATION
B ENGINE
C TRANSMISSION/
TRANSAXLE
D DRIVELINE/AXLE
E SUSPENSION
F BRAKES
G STEERING
H RESTRAINTS
I BODY
J AIR CONDITIONER
K ELECTRICAL
L MAINTENANCE
M INDEXGI General Information
EM Engine Mechanical
LU Engine Lubrication System
CO Engine Cooling System
EC Engine Control System
FL Fuel System
EX Exhaust System
ACC Accelerator Control System
CL Clutch
MT Manual Transaxle
AT Automatic Transaxle
TF Transfer
PR Propeller Shaft
RFD Rear Final Drive
FAX Front Axle
RAX Rear Axle
FSU Front Suspension
RSU Rear Suspension
WT Road Wheels & Tires
BR Brake System
PB Parking Brake System
BRC Brake Control System
PS Power Steering System
SB Seat Belts
SRS Supplemental Restraint System (SRS)
BL Body, Lock & Security System
GW Glasses, Window System & Mirrors
RF Roof
EI Exterior & Interior
IP Instrument Panel
SE Seat
ATC Automatic Air Conditioner
MTC Manual AIr Conditioner
SC Starting & Charging System
LT Lighting System
DI Driver Information System
WW Wiper, Washer & Horn
BCS Body Control System
LAN LAN System
AV Audio, Visual & Telephone System
PG Power Supply, Ground & Circuit Elements
MA Maintenance
IDX Alphabetical Index
QUICK REFERENCE INDEX
A
B
C
D
E
F
G
H
I
J
K
L
M

BRC-1
BRAKE CONTROL SYSTEM
F BRAKES
CONTENTS
C
D
E
G
H
I
J
K
L
M
SECTION
A
B
BRC
BRAKE CONTROL SYSTEM
4WD/ABS
PRECAUTIONS .......................................................... 4
Precautions for brake system ................................... 4
Precautions for brake control ................................... 4
PREPARATION ........................................................... 5
Special Service Tools ............................................... 5
ALL MODE 4X4 SYSTEM .......................................... 6
System Description .................................................. 6
ABS FUNCTION ................................................... 6
4WD FUNCTION ................................................... 6
Control System Diagram .......................................... 6
TROUBLE DIAGNOSIS .............................................. 7
Fail-safe Function ..................................................... 7
How to Proceed with Trouble Diagnosis .................. 7
BASIC CONCEPT ................................................. 7
DIAGNOSIS FLOW ............................................... 8
ASKING COMPLAINTS ........................................ 9
TROUBLE DIAGNOSIS SHEET - EXAMPLE ....... 9
Component Parts Location ..................................... 10
Schematic ...............................................................11
Wiring Diagram — ABS — ..................................... 12
Trouble Diagnosis Chart by Symptom .................... 18
4WD/ABS Control Unit Input/Output Signal Stan-
dard ........................................................................ 19
4WD/ABS CONTROL UINT CONNECTOR TER-
MINAL ARRANGEMENT .................................... 19
REFERENCE STANDARD TABLE ..................... 19
CONSULT-II Functions ........................................... 23
CONSULT-II FUNCTION APPLICATION TABLE... 23
SELF-DIAGNOSIS .............................................. 24
DATA MONITOR ................................................. 26
ACTIVE TEST ..................................................... 29
Component Inspection ........................................... 30
ABS ACTUATOR ................................................ 30
4WD SOLENOID VALVE .................................... 32
Basic Inspection ..................................................... 32
BASIC INSPECTION 1 BRAKE FLUID LEVEL
AND LEAKAGE INSPECTION ............................ 32
BASIC INSPECTION 2 INSPECTION FOR
LOOSE POWER SUPPLY TERMINAL ............... 32BASIC INSPECTION 3 ABS/4WD WARNING
LAMP INSPECTION ............................................ 32
Wheel Speed Sensor System ................................. 32
INSPECTION PROCEDURE .............................. 32
Control Module Power Supply System ................... 34
INSPECTION PROCEDURE .............................. 34
G -Sensor System (4WD models) .......................... 34
INSPECTION PROCEDURE .............................. 34
4WD SOLENOID, ACTUATOR RELAY SYSTEM... 35
4WD MODE SWITCH SYSTEM ............................. 37
Trouble Diagnoses for Symptoms .......................... 38
4WD INDICATOR LAMP DOES NOT COME ON
FORAPPROXIMATELY1SECONDWHENTHE
IGNITION SWITCH IS TURNED TO ON ............. 38
4WD WARNING LAMP DOES NOT ILLUMINATE
WITH IGNITION ON ............................................ 39
4WD WARNING LAMP DOES NOT GO OUT
SEVERAL SECONDS AFTER ENGINE
STARTED.(4WD MODE INDICATOR LAMP
GOES OUT) ........................................................ 39
HEAVY TIGHT-CORNER BRAKING SYMPTOM
OCCURS WHEN THE VEHICLE IS DRIVEN IN
AUTO MODE AND THE STEERING WHEEL IS
TURNED FULLY TO EITHER SIDE AFTER THE
ENGINE IS STARTED ......................................... 39
4WD MODES CANNOT BE SWITCHED AFTER
ENGINE IS STARTED ......................................... 41
WHILE DRIVING, 4WD WARNING LAMP
FLASHES RAPIDLY. (WHEN IT FLASHERSFOR
APPROX. ONE MINUTE, THEN DOES NOT
ILLUMINATE.) ..................................................... 41
WHILE DRIVING, 4WD WARNING LAMP
FLASHES SLOWLY. (WHEN IT CONTINUES TO
ILLUMINATE UNTIL ENGINE TURNS OFF.) ...... 41
VEHICLE DOES NOT ENTER 4WD MODE
EVEN THOUGH 4WD WARNING LAMP IS OFF.... 41
TIGHT-CONER BRAKING SYMPTOM OCCURS
WHEN THE VEHICLE IS STARTED IN AUTO
WARNING LAMP REMAIN OFF). ....................... 42
4WD ACTUATOR RELAY (4WD SOLENOID

BRC-2
ACTUATOR RELAY) TURNS ON/OFF FRE-
QUENTLY ............................................................ 42
ABS warning lamp does not illuminate. (ABS warn-
ing lamp does not come on when the ignition switch
is turned ON.) ......................................................... 42
ABS warning lamp illuminates with ignition ON, but
does not illuminates after a few seconds. (ABS
warning lamp has illuminated.) ............................... 42
4WD warning lamp does not illuminate with ignition
ON. ......................................................................... 43
4WD warning lamp does not go out several seconds
after engine is started. (Drive mode indicator lamp
goes out.) ................................................................ 43
Heavy tight-corner braking symptom occurs when
the vehicle is driven in AUTO mode and the steering
wheel is turned fully to either side after the engine
is started. ................................................................ 44
Drive modes cannot be switched after engine is
started. .................................................................... 45
Wheel driving, 4WD warning lamp flashes rapidly.
(When it flashes for Approx. one minute, then does
not illuminate.) ........................................................ 45
Wheel driving, 4WD warning lamp flashes slowly.
(When it continues to illuminate until engine turns
OFF.) ....................................................................... 45
Vehicle does not enter 4WD mode even though
4WD warning lamp is off. ........................................ 46
Tight-corner braking symptom occurs when the
vehicle is started in AUTO mode (4WD warning lamp
remain OFF). .......................................................... 46
E-TS actuator relay (4WD solenoid actuator relay)
turns ON/OFF frequently. ........................................ 46
Inspection of drive mode change-over switch path... 47
WHEEL SENSORS ................................................... 48
Removal and Installation ........................................ 48
G-SENSOR (4WD MODEL ONLY) ............................ 49
Removal and Installation ........................................ 49
SENSOR ROTOR ...................................................... 50
Removal and Installation ........................................ 50
REMOVAL ........................................................... 50
INSTALLATION .................................................... 50
ACTUATOR ............................................................... 51
Removal and Installation ........................................ 51
REMOVAL ........................................................... 51
INSTALLATION .................................................... 51
ESP/TCS/ABS
PRECAUTIONS ......................................................... 52
Precautions for Supplemental Restraint System
(SRS) “AIR BAG” and “SEAT BELT PRE-TEN-
SIONER” ................................................................. 52
Precautions for Brake System ................................ 52
Precautions for Brake Control ................................ 52
Precautions for CAN System .................................. 53
FOR INSPECTION .............................................. 53
FOR HARNESS REPAIR .................................... 53ON-VEHICLE SERVICE ............................................54
Adjustment of Neutral Position of Steering Angle
Sensor .....................................................................54
GENERAL INFORMATION .......................................56
Fail-Safe ..................................................................56
ABS SYSTEM ......................................................56
ESP/TCS SYSTEM ..............................................56
Hydraulic Circuit ......................................................56
ABS Functions ........................................................56
TCS Functions ........................................................57
ESP Functions ........................................................57
System Diagram .....................................................58
CAN COMMUNICATION ...........................................59
System Description .................................................59
FOR M/T MODELS ..............................................59
TROUBLE DIAGNOSIS ............................................60
How to Perform Trouble Diagnoses for Quick and
Accurate Repair ......................................................60
INTRODUCTION .................................................60
WORK FLOW ......................................................61
ASKING COMPLAINTS .......................................62
EXAMPLE OF DIAGNOSIS SHEET ....................62
Component Parts and Harness Connector Location... 63
Schematic ...............................................................64
Wiring Diagram —ESP/TCS/ABS— .....................65
Control Unit Input/Output Signal Standard ..............71
STANDARDS USING A CIRCUIT TESTER AND
OSCILLOSCOPE .................................................71
STANDARDS WITH CONSULT-II ........................75
Functions of CONSULT-II .......................................77
CONSULT-II MAINLY FUNCTION APPLICA-
TION TO ESP/TCS/ABS ......................................77
SELF-DIAGNOSIS ...............................................78
DATA MONITOR ..................................................81
ACTIVE TEST ......................................................84
For Correct and Quick Diagnosis ............................88
PRECAUTIONS FOR TROUBLE DIAGNOSIS ... 88
Basic Inspection ......................................................89
PRELIMINARY CHECK 1: (BRAKE FLUID
LEVEL AND LEAK INSPECTION) .......................89
PRELIMINARY CHECK 2: (INSPECTION FOR
LOOSE POWER SUPPLY TERMINAL) ...............89
PRELIMINARY CHECK 3: (INSPECTION FOR
ABS WARNING LAMP, ESP OFF INDICATOR
LAMP, AND SLIP INDICATOR LAMP) .................89
Inspection 1 Wheel Speed Sensor and Circuit .......90
Inspection 2 Engine System ...................................92
Inspection 3 ESP/TCS/ABS Control Unit System ...92
Inspection 4 Pressure Sensor and the Circuit
between Pressure Sensor and ESP/TCS/ABS Con-
trol Unit. ...................................................................93
Inspection 5 Steering Angle Sensor and the Circuit
between Steering Angle Sensor and ESP/TCS/ABS
Control Unit. ............................................................94
Inspection 6 Yaw Rate Sensor/ Side G sensor and
the Circuit between Yaw Rate Sensor/ Side G sen-
sor and ESP/TCS/ABS Control Unit. ......................95
Inspection 7 Solenoid Valve, ESP Switch-over Sole-

BRC-3
C
D
E
G
H
I
J
K
L
MA
B
BRC noid Valve and Circuit ............................................ 97
Inspection 8 Actuator Motor, Motor Relay and Circuit
. 100
Inspection 9 Actuator Relay and Circuit ............... 102
Inspection 10 Stop Lamp Switch and Circuit ........ 104
Inspection 11 ESP/TCS/ABS Control Unit Power
Supply Circuit ....................................................... 104
Inspection 12 When “EMERGENCY BRAKE” is
indicated in the Self-Diagnosis Results ................ 106
Inspection 13 When “ST ANG SEN SIGNAL” is Indi-
cated in the Self-Diagnosis Results ..................... 106
Inspection 14 Brake Fluid Level of Reservoir Tank,
Communication Circuit between ESP/TCS/ABS
Control Unit and Brake Fluid Level Warning Switch. 107
Inspection 15 CAN Communication Circuit, ESP/
TCS/ABS Control Unit and Steering Angle Sensor. 108
Component Check ............................................... 109
ESP OFF SWITCH ............................................ 109
ESP/TCS/ABS RELAY BOX ............................. 109
ESP/TCS/ABS ACTUATOR ............................... 110
Symptom 1: ABS Works Frequently. ..................... 112
Symptom 2: Unexpected Pedal Action .................. 112
Symptom 3: Longer Stopping Distance ................. 113
Symptom 4: ABS Does Not Work. ........................ 114
Symptom 5: Pedal Vibration and Noise ................ 114
Symptom 6: ESP OFF Indicator Lamp Does Not Illu-minate ...................................................................115
Symptom 7: SLIP Indicator Lamp Does Not Illumi-
nate .......................................................................116
Symptom 8: During ESP/TCS/ABS Control, Vehicle
Behavior is Jerky. .................................................116
ESP/TCS/ABS CONTROL UNIT ............................118
Removal and Installation ......................................118
REMOVAL .........................................................118
INSTALLATION .................................................118
WHEEL SPEED SENSORS ....................................119
Removal and Installation ......................................119
SENSOR ROTOR ...................................................120
Removal and Installation ......................................120
REMOVAL .........................................................120
INSTALLATION .................................................120
ESP/TCS/ABS ACTUATOR AND RELAY BOX .....121
Removal and Installation ......................................121
YAW RATE/SIDE G SENSOR .................................122
Removal and Installation ......................................122
REMOVAL .........................................................122
INSTALLATION .................................................122
ESP OFF SWITCH ..................................................123
Removal and Installation ......................................123
REMOVAL .........................................................123
INSTALLATION .................................................123

TROUBLE DIAGNOSIS
BRC-19
[4WD/ABS]
C
D
E
G
H
I
J
K
L
MA
B
BRC
CAUTION:
1. Light tight-corner braking symptom may occur depending on driving conditions in AUTO mode.
This is not malfunction.
2. Heavy tight-corner braking symptom occurs when vehicle is driven in the following conditions:
LOCK mode, steering wheel is turned fully to either sides, and accelerator pedal was depressed.
4WD/ABS Control Unit Input/Output Signal StandardEFS001BG
4WD/ABS CONTROL UINT CONNECTOR TERMINAL ARRANGEMENT
CAUTION:
When ignition switch is turned to ON with connectors of 4WD/ABS control unit and actuator con-
nected.
REFERENCE STANDARD TABLE
Specifications defined by circuit tester
Vehicle running, 4WD warning lamp
flashes slowly. (When it flashes for
Approx. One minute, then does not illu-
minate.)Slow flashing: One flashing
per 2 secondslEngine run-
ning
lDriving at
vehicle speed
30km/hTire size is different for front and rear of vehicle.BRC-45
Vehicle does not enter 4WD mode
even though 4WD warning lamp is off.Engine runningMechanical malfunction of electronically con-
trolled coupling (Mechanical engagement of
clutch is not possible.)BRC-46
Symptom Condition Check items Reference page
SFIA0351E
Terminal No.
Location Standard (note 1)(Note) Check
points when result
was malfunctioning +-
3.
109Power supply Ignition switch ONBattery voltage (Approx.
12V)Control unit power
supply circuit

TROUBLE DIAGNOSIS
BRC-39
[4WD/ABS]
C
D
E
G
H
I
J
K
L
MA
B
BRC
4WD WARNING LAMP DOES NOT ILLUMINATE WITH IGNITION ON
1.INSPECTION OF BLOWN FUSE BETWEEN IGNITION SWITCH AND COMBINATION METER
Check blown fuse between ignition switch and combination meter.
OK or NG
OK >> GO TO 2 (No blown fuse)
NG >> Replace the fuse and perform the inspection again.
2.COMBINATION METER POWER SUPPLY CIRCUIT INSPECTION
1. Disconnect combination meter connector.
2. Check voltage between the combination meter harness connector M46 terminal No. LHD models: 46 (W/
L) RHD models: 59 (W/L) and body ground.
OK or NG
OK >> Malfunctioning combination meter.
NG >> Check fuse 10A [#11] to combination meter harness and connector.
4WD WARNING LAMP DOES NOT GO OUT SEVERAL SECONDS AFTER ENGINE
STARTED.(4WD MODE INDICATOR LAMP GOES OUT)
1.PERFORM SELF-DIAGNOSIS
Using CONSULT-II perform self-diagnosis.
OK or NG
OK >> No malfunction detected. Perform inspection again.
NG >>
lDetermine the location of the malfunction according to the result of Self-diagnosis using CON-
SULT-II. (Malfunction is present in the 4WD system.)
lCONSULT-II does not display 4WD system-related trouble codes. GO TO 2.
2.4WD CONTROL UNIT CONNECTOR CONNECTION INSPECTION
lCheck 4WD/ABS control unit connector for proper connection.
OK or NG
OK >> Reconnect the 4WD/ABS control unit connector properly and perform inspection again.
NG >> Repair or replace the connector.
HEAVY TIGHT-CORNER BRAKING SYMPTOM OCCURS WHEN THE VEHICLE IS DRIVEN IN
AUTO MODE AND THE STEERING WHEEL IS TURNED FULLY TO EITHER SIDE AFTER THE
ENGINE IS STARTED
1.PERFORM SELF-DIAGNOSIS.
Using CONSULT-II perform self-diagnosis.
OK or NG
OK >> GO TO 2. (No self-diagnosis malfunction indicated.)
NG >> Determine the location of the malfunction according to the result of Self-diagnosis using CON-
SULT-II. (Malfunction is present in the 4WD system.)

TROUBLE DIAGNOSIS
BRC-71
[ESP/TCS/ABS]
C
D
E
G
H
I
J
K
L
MA
B
BRC
Control Unit Input/Output Signal StandardEFS001A6
STANDARDS USING A CIRCUIT TESTER AND OSCILLOSCOPE
CAUTION:
Connect the connectors for the ESP/TCS/ABS control unit and actuator, and turn the ignition switch
ON.
SFIA0363E
Measure-
ment termi-
nalMeasuring point Standard value (Note 1)(Reference) Check
items for malfunc-
tion
+–
1
Body
groundPower supply Ignition switch ON Battery voltage (Approx. 12V)
Control unit power
supply circuit
2Actuator motor relay,
actuator relay power
supply and steering
angle sensor power sup-
plyIgnition switch ON Battery voltage (Approx. 12V)
7 Actuator motor relayActuator motor being driven
(²Active test²mode with CON-
SULT-II)Approx. 0V
Actuator motor,
motor relay, and
circuit
Actuator motor while the vehicle
is stoppedBattery voltage (Approx. 12V)
36 Actuator relayWhen actuator relay is active.
(the engine running)Approx. 0V
Actuator relay and
circuit
When actuator relay is inactive.
(Fail-safe, engine starts.)Battery voltage (Approx. 12V)
20 Actuator motor monitorWhen actuator relay is active.
(the engine running)Battery voltage (Approx. 12V)
Actuator motor
monitor circuit
When actuator relay is inactive.
(Fail-safe, engine starts.)Approx. 0V

TROUBLE DIAGNOSIS
BRC-75
[ESP/TCS/ABS]
C
D
E
G
H
I
J
K
L
MA
B
BRC
(Note 5): ON/OFF timing of the SLIP indicator lamp
ON: When the ignition switch is turned ON (before engine start) or a malfunction is detected.
OFF: 2 seconds after the engine started (the system is in normal condition) and the ESP/TCS function is inactive.
Flashing: ESP/TCS function is active during driving.
STANDARDS WITH CONSULT-II
CAUTION:
The displayed item is the data calculated by the control unit, so it may indicate a normal value even if
an output circuit (harness) is open or shorted.
Data monitor item ContentsData monitor
(Reference) Check items
for malfunction
ConditionReference value in
normal operation
FR RH SENSOR
FR LH SENSOR
RR RH SENSOR
RR LH SENSORWheel speed (Note 1)Vehicle stopped 0 [km/h (MPH)]
Wheel speed sensor cir-
cuit
During drivingAlmost in accor-
dance with the
speedometer dis-
play (within±10%)
ACCEL POS SIGOpen/close condition
of throttle valve (linked
with accelerator pedal)Accelerator pedal not
depressed (ignition switch is
ON)0%Control unit communica-
tion circuit between the
ESP/TCS/ABS control
unit and ECM Accelerator pedal depressed
(ignition switch is ON)0 – 100%
ENG RPMWith the engine run-
ningWith the engine stopped 0rpm
Engine speed signal cir-
cuit
Engine runningAlmost in accor-
dance with
tachometer display
STR ANGLE SIGSteering angle
detected by steering
angle sensorStraight-ahead condition Approx. 0 deg
Steering angle sensor
and circuit
Steering – 720 to 720deg
YAW R AT E S E NYaw rate detected by
yaw rate sensorVehicle stopped Approx. 0 d/s
Yaw rate sensor and cir-
cuit
During driving – 70 to 70d/s
SIDE G-SENSORTransverse accelera-
tion detected by side G
sensorVehicle stopped
Approx. 0 m/s
2
Side G sensor and circuit
During driving
–24.3to24.1m/s2
PRESS SENSORBrake fluid pressure
detected by pressure
sensorWith the ignition switch
turned ON and brake pedal
released.Approx. 0 bar
Pressure sensor and cir-
cuit
With the ignition switch
turned ON and brake pedal
depressed.– 40 to 300bar
BATTERY VOLTBattery voltage sup-
pliedtotheESP/TCS/
ABS control unitIgnition switch ON 10 – 16VESP/TCS/ABS control
unit power supply circuit
and ground circuit
MOTOR RELAYMotor relay
ON/OFF conditionABS not activated. OFF
Motor relay and circuit
ABS activated. ON
ACTUATOR RLYActuator relay
ON/OFF conditionIgnition ON and Vehicle
stopped.OFF
Actuator relay and circuit
Engine running and Vehicle
stopped.ON
STOP LAMP SWOperating status of
brake pedalDepress brake pedal. ON
Stop lamp switch circuit
Release the brake pedal. OFF
PARK BRAKE SW Parking brake statusParking brake activated ON
Parking brake switch cir-
cuit
Parking brake not activated OFF

BRC-80
[ESP/TCS/ABS]
TROUBLE DIAGNOSIS
FR LH IN ABS SOLCircuit of the front LH wheel inlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
Solenoid valve and cir-
cuit. Refer toBRC-97
FR LH OUT ABS SOLCircuit of the front LH wheel outlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
RR RH IN ABS SOLCircuit of the rear RH wheel inlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
RR RH OUT ABS SOLCircuit of the rear RH wheel outlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
FR RH IN ABS SOLCircuit of the front RH wheel inlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
FR RH OUT ABS SOLCircuit of the front RH wheel outlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
RR LH IN ABS SOLCircuit of the rear LH wheel inlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
RR LH OUT ABS SOLCircuit of the rear LH wheel outlet solenoid valve is open or
shorted, or the control line is open or shorted to the power supply
or the ground.
USV LINE [FL-RR]ESP switch-over solenoid valve 1 on the primary side is open cir-
cuit or shorted, or the control line is open or shorted to the power
supply or the ground.
ESP switch-over sole-
noid valve and circuit.
Refer toBRC-97
. USV LINE [FR-RL]ESP switch-over solenoid valve 1 on the secondary side is open
circuit or shorted, or the control line is open or shorted to the
power supply or the ground.
HSV LINE [FL-RR]ESP switch-over solenoid valve 2 on the primary side is open cir-
cuit or shorted, or the control line is open or shorted to the power
supply or the ground.
HSV LINE [FR-RL]ESP switch-over solenoid valve 2 on the secondary side is open
circuit or shorted, or the control line is open or shorted to the
power supply or the ground.
PUMP MOTOR
ACTUATOR RLY (note)During the actuator motor operation with ON, when the actuator
motor turns OFF. Or when the control line for actuator motor relay
is open.Actuator motor, motor
relay, and circuit. Refer
toBRC-100
During the actuator motor operation with OFF, when the actuator
motor turns ON. Or when the control line for relay is shorted to
ground.
ABS SENSOR
[ABNORMAL SIGNAL]Wheel speed sensor input is abnormal.Wheel speed sensor and
circuit. Refer toBRC-90
BATTERY VOLTAGE
[ABNORMAL]ESP/TCS/ABS control unit battery voltage is too low.ESP/TCS/ABS control
unit battery voltage cir-
cuit and ground circuit.
Refer toBRC-104
ST ANGLE SEN SIGNALNeutral position correction of steering angle sensor is not fin-
ished.Neutral position adjust-
ment of steering angle
sensor. Refer toBRC-
106
ST ANG SEN COM CIRCAN communication system or steering angle sensor is abnor-
mal.Steering angle sensor
and CAN communication
circuit. Refer toBRC-108
Self-Diagnostic item Malfunction detecting condition Check route

BRC-106
[ESP/TCS/ABS]
TROUBLE DIAGNOSIS
5.ESP/TCS/ABS CONTROL UNIT POWER SUPPLY CIRCUIT INSPECTION 2
1. Check the fuse 10A.
2. Check for continuity between the battery positive terminal and
the ESP/TCS/ABS control unit connector.
Is inspection result OK?
YES >> Check the battery for a loose terminal and low voltage or the alternator for abnormality.
NO >>
lReplace the fuse 10A.
lHarness disconnection
Inspection 12 When “EMERGENCY BRAKE” is indicated in the Self-Diagnosis
Results
EFS001AO
Inspection procedure
1.SELF-DIAGNOSIS RESULT CHECK
Check the self-diagnosis results.
When any items other than²EMERGENCY BRAKE²is displayed in the self-diagnosis results, follow the
instructions below.
CAUTION:
²EMERGENCY BRAKE²is indicated when the control unit itself is detected internal error. If this display
item was indicated, replace the control unit.
Is
²EMERGENCY BRAKE²is indicated in the self-diagnosis results?
>> Replace the ESP/TCS/ABS control unit, and perform the self-diagnosis again.
Inspection 13 When “ST ANG SEN SIGNAL” is Indicated in the Self-Diagnosis
Results
EFS001AP
Inspection procedure
1.SELF-DIAGNOSIS RESULT CHECK 1
Check the self-diagnosis results.
When any items other than
²ST ANGLE SEN SIGNAL²is displayed in the self-diagnosis results:
YES >> Check and repair the applicable items. Perform the self-diagnosis again.
NO >> Perform the steering angle sensor neutral position adjustment. GO TO 2.
SFIA0387E
ESP/TCS/ABS control unit
(Vehicle-side connector)Battery terminal Continuity
1 positive Yes
Self-diagnosis results
CONSULT-II indication item
EMERGENCY BRAKE
Self-diagnosis results
CONSULT-II indication item
ST ANGLE SEN SIGNAL