o2 sensor TOYOTA HIGHLANDER 2001 Service Owners Manual

F46318
S14
Steering SensorSkid Control ECU
with Actuator
Passenger Side J/B
Instrument Panel J/B
Passenger Side J/B
Instrument Panel J/B
Engine Room J/B I15
Ignition SW
F7 FL Block
FL
MAIN
BatteryJ17
J/C
AM1IG1ECU-IG
ALT
D.C.C ECU-B
IC AM1IC4 S27
IC4
IC3S27
1A 1C 1D 1G
2A 2I4C
4J4N
4L
4C
1C1D J16
J/C
1 2
3
45
67 8 9
1011 19 2125
1012 13
31
910
11
710
1
4 1 24
12
3B L W
YW W
E PP
E
LY
G
W
B
W W
W-L W-B W-B
W-B
BR CANL
ESS
IG1 CANH
BATCANL
CANH
1 2 05-822
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
1012 Author
: Date
:
WIRING DIAGRAM

G26292
IG1
ESSBAT
(+) (-)(+)
(-)
S14
Steering Angle Sensor
(harness side connector)
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-823
1013 Author
: Date
:
INSPECTION PROCEDURE
HINT:

When U0121/94, U0123/62, U0124/95 or U0126/63 are output together with C1231/31, inspect and
repair the trouble areas indicated by U0121/94, U0123/62, U0124/95 or U0126/63 first.

When the speed sensor or the yaw rate sensor has trouble, DTCs for the steering angle sensor may
be output even when the steering angle sensor is normal. When DTCs for the speed sensor or yaw
rate sensor are output together with other DTCs for the steering angle sensor, inspect and repair the
speed sensor and yaw rate sensor first, and then inspect and repair the steering angle sensor.

Start the inspection from step 1 when using the hand-held tester and start from step 2 when not using
the hand-held tester.
1 READ VALUE OF HAND-HELD TESTER(STEERING ANGLE SENSOR)
(a) Connect the hand-held tester to the DLC3.
(b) Start the engine.
(c) Select the DATA LIST mode on the hand-held tester.
(d) Check that the steering angle value of the steering angle sensor indicated on the hand-held tester,
changes when the steering wheel is turned.
ItemMeasurement Item /
Range (Display)Normal Condition
STEERING ANGSteering sensor/
Min.: -1152 deg, Max.: 1150.875 degMin.: -128 deg/s
Max.: 128 deg/s
OK:
Steering angle value should change.
OK REPLACE ABS & TRACTION ACTUATOR ASSY
(SEE PAGE 32-37)
NG
2 CHECK TERMINAL VOLTAGE(STEERING ANGLE SENSOR CONNECTOR)
(a) Remove the steering wheel and the column lower cover.
(b) Disconnect the steering angle sensor connector S14.
(c) Turn the ignition switch to the ON position.
(d) Measure the voltage according to the value(s) in the table
below.
Standard:
Tester ConnectionSpecified Condition
S14-1 (IG1) - S14-2 (ESS)10 to 14 V
S14-3 (BAT) - S14-2 (ESS)10 to 14 V
NG REPAIR OR REPLACE HARNESS OR
CONNECTOR
OK
REPLACE STEERING ANGLE SENSOR

05-824
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
1014 Author
: Date
:
DTC C1232/32 MALFUNCTION IN DECELERATION SENSOR
DTC C1234/34 MALFUNCTION IN YAW RATE SENSOR
DTC C1243/43 MALFUNCTION IN DECELERATION SENSOR
DTC C1244/44 OPEN OR SHORT IN DECELERATION
SENSOR CIRCUIT
DTC C1245/45 MALFUNCTION IN DECELERATION SENSOR
DTC C1381/97 MALFUNCTION IN POWER SUPPLY
VOLTAGE YAW/DECELERATION SENSOR
CIRCUIT DESCRIPTION
The yaw rate sensor and deceleration sensor signals are sent to the skid control ECU through the CAN com-
munication system. When there is a malfunction in the communication, it will be detected by the diagnosis
function.
DTC No.DTC Detecting ConditionTrouble Area
C1232/32
While the vehicle is at a speed of 6mph (10 km/h) or more,
the condition that the fluctuation range of the signal from
either GL1 or GL2 is under 80 mV and the other is above
1.9 V continues for 30 seconds or more.

Yaw rate/deceleration sensor

Yaw rate/deceleration sensor circuit
C1234/34Slftiiliif t
Yaw rate/deceleration sensorC1234/34Sensor malfunction signal is reccives from yaw rate sensor.
Ya w rate/deceleration sensor

Yaw rate/deceleration sensor circuit
C1243/43
The following condition repeats 16 times.

GL1 and GL2 do not change by more than 2LSB when the
vehicle decelerates from 19 mph (30 km/h) to 0 mph (0
km/h).

Yaw rate/deceleration sensor

Yaw rate/deceleration sensor circuit
C1244/44
When any of the following (1 to 2) is detected:
(1) All the following conditions continues for at least 60 se-
conds.

Vehicle is stopped.

Difference between IGL1I and IGL2I does not drop below
0.4 G once it reaches 0.6 G or more.
(2) Data malfunction signal is received from G sensor.

Yaw rate/deceleration sensor

Yaw rate/deceleration sensor circuit
C1245/45
The following condition continue for at least 60 seconds.

Difference between the values calculated from G sensor
value and vehicle speed exceeds 0.35 G.
Yaw rate/deceleration sensor

Yaw rate/deceleration sensor circuit
C1381/97
G sensor power source malfunction signal is received for
at least 10 sec. at a speed of more than 2 mph (3 km/h).
Yaw rate/deceleration sensor

Yaw rate/deceleration sensor circuit
05CDB-18

F46306
Skid Control ECU
with Actuator Y1
Yaw Rate Sensor
Passenger Side J/B
Instrument Panel J/B I15
Ignition SW
F7
FL Block
FL MAIN
Battery GND
IG
ALTJ19
J/C
BF CANL
CANHCANL
CANH
AM1 IG1ECU-IG
AM1 IO2IC4
1A 1C 1D 4C 4J
1CS27
S27
IO2 IO2 IC4J16
J/C
12
3
4
5
6 7 9
1011 19 2025
12 13
3812 13
2
24
121
1 2B GL
OVW
Y WWW
G
WB B
W
A
A W-B
W-B
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-825
1015 Author
: Date
:
WIRING DIAGRAM
INSPECTION PROCEDURE
HINT:
When U0121/94, U0123/62, U0124/95 or U0126/63 are output together with C1232/32 or C1334/34, inspect
and repair the trouble areas indicated by U0121/94, U0123/62, U0124/95 or U0126/63 first.
1 CHECK SENSOR INSTALLATION(YAW RATE SENSOR)
(a) Check that the yaw rate and deceleration sensor has been installed properly (see page 32-46).
NG INSTALL YAW RATE SENSOR CORRECTLY
(SEE PAGE 32-46)
OK

F45082IG Yaw Rate Sensor
(harness side connector)
Y1
F45082
GND
Yaw Rate Sensor
(harness side connector)
Y1
05-826
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
1016 Author
: Date
:
2 CHECK HARNESS AND CONNECTOR(IG TERMINAL)
(a) Disconnect the yaw rate sensor connector.
(b) Turn the ignition switch to the ON position.
(c) Measure the voltage according to the value(s) in the table
below.
Standard:
Tester ConnectionSpecified Condition
Y1-5 (IG) - Body ground10 to 14 V
NG REPAIR OR REPLACE HARNESS OR
CONNECTOR
OK
3 CHECK HARNESS AND CONNECTOR(GND TERMINAL)
(a) Disconnect the yaw rate sensor connector.
(b) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester ConnectionSpecified Condition
Y1-1 (GND) - Body groundBelow 1 W
NG REPAIR OR REPLACE HARNESS OR
CONNECTOR
OK
REPLACE ABS & TRACTION ACTUATOR ASSY (SEE PAGE 32-37)

05-830
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
1020 Author
: Date
:
DTC C1246/46 MALFUNCTION IN MASTER CYLINDER
PRESSURE SENSOR
CIRCUIT DESCRIPTION
Master cylinder pressure sensor is connected to the skid control ECU in the actuator.
DTC No.DTC Detecting ConditionTrouble Area
C1246/46
When any of the following (1 to 5) is detected:
(1) All the following conditions continues for at least 30 se-
conds.

Vehicle speed is more than 4 mph (7 km/h).

PMC terminal voltage does not change by more than
0.005 V once it exceeds 0.86 V.
(2) PMC terminal receives interference at least 7 times
within 5 sec.
(3) All the following conditions continues for at least 1.2
seconds.

Stop switch is OFF.

PMC terminal voltage is more than 0.86 V or less than 0.3
V.
(4) All the following conditions continues for at least 1.2
seconds.

IG1 terminal voltage is between 9.5 and 17.2 V.

VCM terminal voltage is not within 4.4 and 5.6 V.
(5) All the following conditions continues for at least 1.2
seconds.

VCM terminal voltage is between 4.4 and 5.6 V.

PMC terminal voltage is not within 0.14 and 4.85 V.

Master cylinder pressure sensor

Master cylinder pressure sensor circuit
INSPECTION PROCEDURE
HINT:
Start the inspection from step 1 when using the hand-held tester and start from step 2 when not using the
hand-held tester.
1 READ VALUE OF HAND-HELD TESTER(MASTER CYLINDER PRESSURE
SENSOR)
(a) Connect the hand-held tester to the DLC3.
(b) Start the engine.
(c) Select the DATA LIST mode on the hand-held tester.
ItemMeasurement Item /
Range (Display)Normal Condition
MAS CYL PRS 1Master cylinder pressure sensor 1
reading / min.: 0 V, max.: 5 VWhen brake pedal is released : 0.3 to
0.9 V
(d) Check that the brake fluid pressure value of the master cylinder pressure sensor indicated on the
hand-held tester, changes when the brake pedal is depressed.
Standard:
Brake fluid pressure value should change.
NG Go to step 2
OK
REPLACE ABS & TRACTION ACTUATOR ASSY (SEE PAGE 32-37)
05H3Q-02

G30963
IC4
S27 W Y
WG
W BWL
WB
CANL CANH
CANLCANH
CANL CANH
CANL CANHESS S14
Steering SensorJ16
J/CSkid Control ECU
With Actuator
D3
DLC31011
12
1325
2
146 9S27 S27
IC4
3
11
22 10
218
19
Y1
Yaw Rate Sensor
W BIO213 IO212
9
20VSC
STRG
VSC
STRG
YAW
DLC3S27 12
W-B
W-B
W-B1
32GND2
GND1
4 CGW-BW-B
W-B1
1 1
1 3 6
4C
4C 4N4N
W-B Passenger Side J/B
J19
J/C
W-BJ4
J/C
AAA
BF
ICEH
EB GNDYAW
DLC3
- DIAGNOSTICSCAN COMMUNICATION SYSTEM
05-2131
2321 Author
: Date
:
CHECK CAN BUS LINE (CAN-L) FOR SHORT TO GND
CIRCUIT DESCRIPTION
A short to GND is suspected in the CAN bus line when there is continuity between terminals 4 (CG) and 14
(CANL) of the DLC3.
SymptomTrouble Area
There is continuity between terminals 4 (CG) and 14
(CANL) of DLC3.

Short to GND in CAN bus line (CANL)

Skid control ECU

Steering sensor

Yaw rate sensor
WIRING DIAGRAM
05IR7-02

C81825
12345678
9 10111213141516
G25474G26206
DLC3:
CG
CANLD3
C81825
12345678
9 10111213141516
G25474G26206
DLC3:
CG
CANLD3
C81825
12345678
9 10111213141516
G25474G26206
DLC3:
CG
CANLD3
- DIAGNOSTICSCAN COMMUNICATION SYSTEM
05-2133
2323 Author
: Date
:
3 CHECK CAN BUS LINE FOR SHORT TO GND(SKID CONTROL ECU, CAN-L)
(a) Disconnect the connector (S27) from the skid control
ECU.
(b) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester connectionConditionSpecified value
D3-4 (CG) -
D3-14 (CANL)Ignition SW OFF3 kW or more
OK REPLACE SKID CONTROL ECU WITH
ACTUATOR (SEE PAGE 32-37)
NG
4 CHECK CAN BUS LINE FOR SHORT TO GND(STEERING SENSOR, CAN-L)
(a) Reconnect the connector (S27) to the skid control ECU.
(b) Disconnect the connector (S14) from the steering sensor.
(c) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester connectionConditionSpecified value
D3-4 (CG) -
D3-14 (CANL)Ignition SW OFF3 kW or more
OK REPLACE STEERING SENSOR
(SEE PAGE 32-48)
NG
5 CHECK CAN BUS LINE FOR SHORT TO GND(YAW RATE SWENSOR, CAN-L)
(a) Reconnect the connector (S14) to the steering sensor.
(b) Disconnect the connector (Y1) from the yaw rate sensor.
(c) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester connectionConditionSpecified value
D3-4 (CG) -
D3-14 (CANL)Ignition SW OFF3 kW or more
OK REPLACE YAW RATE SENSOR
(SEE PAGE 32-46)
NG

G25476G26430
Junction Connector:
J16
CANH
CANL
E69126
Skid Control ECU
Connector Front
View:
CANL
S27
GND1
05-2134
- DIAGNOSTICSCAN COMMUNICATION SYSTEM
2324 Author
: Date
:
6 CHECK CAN BUS LINE FOR SHORT TO GND(SKID CONTROL ECU - JUNCTION
CONNECTOR, CAN-L)
(a) Reconnect the connector (Y1) to the yaw rate sensor.
(b) Disconnect the wire harness connector (J16) from the
junction connector.
(c) Disconnect the connector (S27) from the skid control
ECU.
(d) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester connectionConditionSpecified value
S27-25 (CANL) -
S27-32 (GND1)Ignition SW OFF1 MW more
NG REPAIR OR REPLACE CAN MAIN BUS LINE OR
CONNECTOR (SKID CONTROL ECU - JUNC-
TION CONNECTOR, CAN-L)
OK

G24991G26210
S14
Steering Sensor Wire Harness View:
CANLESS
- DIAGNOSTICSCAN COMMUNICATION SYSTEM
05-2135
2325 Author
: Date
:
7 CHECK CAN BUS LINE FOR SHORT TO GND(STEERING SENSOR - JUNCTION
CONNECTOR, CAN-L)
(a) Disconnect the connector (S14) from the steering sensor.
(b) Measure the resistance according to the value(s) in the
table below.
Standard:
Tester connectionConditionSpecified value
S14-2 (ESS) -
S14-9 (CANL)Ignition SW OFF1 MW more
HINT:
Check the wire harness connector connected to the junction
connector while disconnecting them.
NG REPAIR OR REPLACE CAN MAIN BUS LINE OR
CONNECTOR (STEERING SENSOR - JUNC-
TION CONNECTOR, CAN-L)
OK
REPAIR OR REPLACE YAW RATE SENSOR SUB BUS LINE OR CONNECTOR (CAN-L)