MOTOR INFINITI M35 2007 Factory Service Manual

STC-30
[RAS]
TROUBLE DIAGNOSIS
Revision: 2007 April2007 M35/M45
DATA MONITOR MODE
Operation Procedure
1. Perform “CONSULT-II Start Procedure”. Refer to GI-38, "CONSULT-II Start Procedure" .
2. Touch “DATA MONITOR”.
3. Select from “SELECT MONITOR ITEM”, screen of data monitor is displayed.
NOTE:
When malfunction is detected, CONSULT-II performs REAL-TIME DIAGNOSIS. Also, any malfunction
detected while in this mode will be displayed in real time.
Display Item List
ACTIVE TEST MODE
Operation Procedure
1. Perform “CONSULT-II Start Procedure”. Refer to GI-38, "CONSULT-II Start Procedure" .
2. When turning the steering wheel right or left, the rear wheel turns in the same direction. If the steering
wheel is not turned, the rear wheel turns left and right 5 times.
RAS CONTROL UNIT PART NUMBER
1. Perform “CONSULT-II Start Procedure”. Refer to GI-38, "CONSULT-II Start Procedure" .
2. The part number described on RAS control unit sticker is displayed.
Item [Display or Unit] Remarks
VHCL SPEED SE [km/h] or [mph] Vehicle speed received via CAN communication is displayed.
STEERING ANG [°] Steering angle received via CAN communication is displayed.
ENGINE SPEED [rpm] Engine speed received via CAN communication is displayed.
POWER STR SOL [A]Power steering solenoid controlling current that RAS control unit
outputs is displayed.
RR ST ANG-MAI [V]Rear wheel steering angle main sensor output voltage is dis-
played.
RR ST ANG-SUB [V] Rear wheel steering angle sub sensor output voltage is displayed.
RR ST ANG VOL [V]Voltage supplied from RAS control unit to rear wheel steering
angle sensor is displayed.
C/U VOLTAGE [V] Voltage supplied to RAS control unit is displayed.
MOTOR VOLTAGE [V] Voltage supplied from RAS control unit to RAS motor is displayed.
MOTOR CURRENT [A]RAS motor relay controlling current that RAS control unit outputs
is displayed.
MOTOR CRNT OPE [A] Current commanded value to RAS motor is displayed.
RR ANG OPE [°]Angle commanded value to rear wheel steering angle sensor is
displayed.
STOP LAMP SW [ON/OFF] Condition of stop lamp switch ON/OFF is displayed.
HICAS RELAY [ON/OFF] RAS motor relay ON/OFF condition is displayed.
FAILSAFE [ON/OFF] Fail-safe ON/OFF condition is displayed.
WARNING LAMP [ON/OFF] RAS warning lamp operating condition is displayed.
STEERING ANG RR ST ANG MAI RR ST ANG SUB MOTOR CURRENT
0° (Neutral) 2.4 V 2.4 V No output (Approx. 0 A)
R 90°Approx. 4.4 V Approx. 4.4 V
Output (change)
L 90°Approx. 0.4 V Approx. 0.4 V

TROUBLE DIAGNOSIS
STC-31
[RAS]
C
D
E
F
H
I
J
K
L
MA
B
STC
Revision: 2007 April2007 M35/M45
Diagnosis Procedure with Self-Diagnosis Function (Without CONSULT-II)NGS000EL
DESCRIPTION
If a malfunction is detected in the system, the RAS warning lamp turns on and indicates the malfunction. At
that time, fail-safe activates, and then stops the function.
SELF-DIAGNOSIS PROCEDURE
1. Start engine.
2. Turn steering wheel left and right at 20° or more and 5 times or more within 10 seconds. And then depress
the service brake 5 times or more.
3. RAS warning lamp blinks (displays normal/malfunction).
SELF-DIAGNOSIS DISPLAY
RAS warning lamp blinks and displays the self-diagnostic results.

Only DTCs are displayed as the pattern shown in the figure, and
then repeat the display.

If all items are normal, RAS warning lamp blinks at 4 Hz cycle.
SELF-DIAGNOSIS DISPLAY ITEMS
HOW TO ERASE SELF-DIAGNOSIS
If there is the history data for when the fail-safe has activated in the past, erase the memory with CONSULT-II.
Refer to STC-29, "
How to Erase Self-Diagnostic Results" .
CAN CommunicationNGS000EM
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. Refer to LAN-50, "
CAN Sys-
tem Specification Chart" .
SGIA1243E
DTC (warning lamp blinks) Diagnosis item Inspection item
11 RAS control unitSTC-35, "
Inspection 1: RAS Control Unit Malfunction"
12 Motor power supplySTC-35, "Inspection 2: Motor Power Supply System"
13 Motor outputSTC-37, "Inspection 3: RAS Motor Output Malfunction"
21 Vehicle speed signalSTC-38, "Inspection 4: Vehicle Speed Signal"
22 Steering angle signalSTC-39, "Inspection 5: Steering Angle Signal Malfunction"
24 Rear wheel steering angle (main)STC-40, "Inspection 6: Rear Main Signal and Rear Sub Signal
Malfunction"
25 Rear wheel steering angle (sub)STC-40, "Inspection 6: Rear Main Signal and Rear Sub Signal
Malfunction"
26 VDCSTC-43, "Inspection 7: VDC Malfunction"
33 Engine speed signalSTC-44, "Inspection 8: Engine Speed Signal Malfunction"

TROUBLE DIAGNOSIS
STC-33
[RAS]
C
D
E
F
H
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J
K
L
MA
B
STC
Revision: 2007 April2007 M35/M45
3. CHECK RAS CONTROL UNIT POWER SUPPLY CIRCUIT
Turn ignition switch ON, and then check voltage between RAS con-
trol unit harness connector B476 and ground.
OK or NG
OK >> Power supply and ground circuit are normal.
NG >> Power supply circuit open or shorted. Repair or replace
any inoperative parts.
Trouble Diagnosis ChartNGS000EP
SELF-DIAGNOSIS
Terminal 27 – Ground : Battery voltage (Approx. 12 V)
SGIA1245E
Item
Reference Self-diagnosis function CONSULT-II
DTC
(warning
lamp blinks)Diagnosis item Diagnosis item
11 RAS control unitCONTROL UNIT [ABNORMAL1] [C1900]
STC-35
CONTROL UNIT [ABNORMAL2] [C1901]
CONTROL UNIT [ABNORMAL3] [C1905]
CONTROL UNIT [ABNORMAL5] [C1906]
CONTROL UNIT [ABNORMAL4] [C1907]
CONTROL UNIT [ABNORMAL7] [C1908]
CONTROL UNIT [ABNORMAL6] [C1909]
CONTROL UNIT [ABNORMAL8] [C1922]
CONTROL UNIT [ABNORMAL5] [C1927]
CONTROL UNIT [ABNORMAL9] [C1928]
12 Motor power supplyMOTOR VOLTAGE [LOW VOLTAGE] [C1911]
STC-35
MOTOR VOLTAGE [BAD OBSTRCT] [C1912]
13 Motor outputMOTOR OUTPUT [ABNORMAL SIG] [C1913]
STC-37
MOTOR OUTPUT [REV CURRENT] [C1902]
MOTOR OUTPUT [NO CURRENT] [C1903]
MOTOR OUTPUT [OVERCURRENT] [C1904]
MOTOR OUTPUT [MOTOR LOCK] [C1910]
21 Vehicle speed signal VEHICLE SPEED SEN [NO SIGNAL] [C1919]STC-38
22 Steering angle signalSTEERING ANGLE SEN [NO CHANGE] [C1923]
STC-39STEERING ANGLE SEN [NO NEUT STATE] [C1924]
STEERING ANGLE SEN [NO SIGNAL] [C1920]
STEERING ANGLE SEN [C1926]

STC-34
[RAS]
TROUBLE DIAGNOSIS
Revision: 2007 April2007 M35/M45
DIAGNOSIS CHART BY SYMPTOM
24 Rear wheel steering angle (main)RR ST ANGLE SENSOR [MAIN SIGNAL] [C1915]
STC-40RR ST ANGLE SENSOR [ABNORMAL VOL] [C1914]
RR ST ANGLE SENSOR [OFFSET SIG1] [C1917]
RR ST ANGLE SENSOR [OFFSET SIG2] [C1918]
25 Rear wheel steering angle (sub)RR ST ANGLE SENSOR [SUB SIGNAL] [C1916]
RR ST ANGLE SENSOR [ABNORMAL VOL] [C1914]
RR ST ANGLE SENSOR [OFFSET SIG1] [C1917]
RR ST ANGLE SENSOR [OFFSET SIG2] [C1918]
26 VDC VDC [C1929]STC-43
33 Engine speed signal MOTOR OUTPUT [C1921]STC-44
— CAN COMM CIRCUIT [U1000]
STC-44
— CONTROL UNIT (CAN) [U1010]
Symptom Reference
It is not entering the self-diagnosis mode.STC-32, "
BASIC INSPECTION 3: RAS CONTROL UNIT POWER
SUPPLY CIRCUIT AND GROUND CIRCUIT INSPECTION"
STC-45, "Inspection 10: Stop Lamp Switch Harness"
STC-46, "Inspection 11: RAS Warning Lamp Harness"
RAS warning lamp does not turn on with ignition switch ON.STC-32, "
BASIC INSPECTION 3: RAS CONTROL UNIT POWER
SUPPLY CIRCUIT AND GROUND CIRCUIT INSPECTION"
STC-46, "Inspection 11: RAS Warning Lamp Harness"
RAS warning lamp turns on with ignition switch ON. It does not
turn off even if the engine is started.STC-32, "
Basic Inspection"

STC-28, "SELF-DIAG RESULT MODE"

STC-31, "Diagnosis Procedure with Self-Diagnosis Function
(Without CONSULT-II)"
RAS warning lamp may turn on after the engine is started.STC-28, "SELF-DIAG RESULT MODE"
The steering force does not change smoothly according to the
vehicle speed.STC-47, "Diagnosis Chart by Symptom 2"
Noise

STC-28, "SELF-DIAG RESULT MODE"

STC-31, "Diagnosis Procedure with Self-Diagnosis Function
(Without CONSULT-II)"
STC-14, "INSPECTION AFTER DISASSEMBLY"
Malfunction other than aboveSTC-47, "Diagnosis Chart by Symptom 1"

TROUBLE DIAGNOSIS
STC-35
[RAS]
C
D
E
F
H
I
J
K
L
MA
B
STC
Revision: 2007 April2007 M35/M45
Inspection 1: RAS Control Unit MalfunctionNGS000EQ
1. CHECK SELF-DIAGNOSIS RESULTS
Check self-diagnosis results.
With CONSULT-II
Without CONSULT-II
Is above displayed on self-diagnosis display?
YES >> Replace RAS control unit. Perform self-diagnosis again after replacing.
NO >> INSPECTION END
Inspection 2: Motor Power Supply SystemNGS000ER
1. CHECK RAS CONTROL UNIT CONNECTOR
1. Turn ignition switch OFF, disconnect RAS control unit harness connector and RAS motor harness connec-
tor, and check terminal for deformation, disconnection, looseness, etc.
2. Reconnect harness connector securely, and perform self-diagnosis.
With CONSULT-II
Without CONSULT-II
Is above displayed on self-diagnosis display?
YES >> GO TO 2.
NO >> Connector terminal connection is loose, damaged, open, or shorted. Repair or replace the termi-
nal.
Self-diagnostic results
CONTROL UNIT [ABNORMAL1] [C1900]
CONTROL UNIT [ABNORMAL2] [C1901]
CONTROL UNIT [ABNORMAL3] [C1905]
CONTROL UNIT [ABNORMAL5] [C1906]
CONTROL UNIT [ABNORMAL4] [C1907]
CONTROL UNIT [ABNORMAL7] [C1908]
CONTROL UNIT [ABNORMAL6] [C1909]
CONTROL UNIT [ABNORMAL8] [C1922]
CONTROL UNIT [ABNORMAL5] [C1927]
CONTROL UNIT [ABNORMAL9] [C1928]
DTC (warning lamp blinks)
11
Self-diagnosis results
MOTOR VOLTAGE [LOW VOLTAGE] [C1911]
MOTOR VOLTAGE [BAD OBSTRCT] [C1912]
DTC (warning lamp blinks)
12

STC-36
[RAS]
TROUBLE DIAGNOSIS
Revision: 2007 April2007 M35/M45
2. CHECK RAS MOTOR RELAY BATTERY CIRCUIT
1. Turn ignition switch OFF, and disconnect RAS motor relay harness connector B480.
2. Check voltage between RAS motor relay harness connector
B480 and ground.
OK or NG
OK >> GO TO 3.
NG >> RAS motor relay power supply circuit open or shorted.
Repair or replace power supply circuit and fuse.
3. CHECK RAS MOTOR RELAY HARNESS
1. Disconnect RAS motor relay harness connector B480 and RAS control unit harness connector B476.
2. Check continuity between RAS motor relay harness connector
B480 and RAS control unit harness connector B476.
3. Check continuity between RAS motor relay harness connector
B480 and ground.
OK or NG
OK >> GO TO 4.
NG >> RAS motor relay harness open or shorted. Repair or replace applicable malfunctioning harness.
4. CHECK RAS MOTOR RELAY RESISTANCE
Check the resistance between RAS motor relay connector.
OK or NG
OK >> GO TO 5.
NG >> RAS motor relay malfunction (replacement)Terminal 3 – Ground : Battery voltage (Approx. 12 V)
SGIA1246E
Terminal 5 – 37 : Continuity should exist.
Terminal 1 – 25 : Continuity should exist.
2 – Ground : Continuity should exist.
SGIA1265E
Terminal 1 – 2 : Approx. 74 Ω
SGIA1266E

TROUBLE DIAGNOSIS
STC-37
[RAS]
C
D
E
F
H
I
J
K
L
MA
B
STC
Revision: 2007 April2007 M35/M45
5. CHECK RAS CONTROL UNIT OUTPUT SIGNAL
1. Connect RAS control unit harness connector B476 and RAS
motor relay harness connector B480.
2. Check voltage between RAS motor relay harness connector
B480 and ground.
OK or NG
OK >> Check RAS motor relay separately from other parts.
Refer to STC-50, "
RAS MOTOR RELAY" .
NG >> RAS control unit malfunction (replacement)
Inspection 3: RAS Motor Output MalfunctionNGS000ES
1. CHECK RAS CONTROL UNIT CONNECTOR
1. Turn ignition switch OFF, disconnect RAS control unit harness connector and RAS motor harness connec-
tor, and check terminal for deformation, disconnection, looseness, etc.
2. Reconnect harness connector securely, and perform self-diagnosis.
With CONSULT-II
Without CONSULT-II
Is above displayed on self-diagnosis display?
YES >> GO TO 2.
NO >> Connector terminal connection is loose, damaged, open, or shorted. Repair or replace the termi-
nal.
2. CHECK RAS MOTOR RESISTANCE
1. Turn ignition switch OFF, and disconnect RAS motor harness connector B463.
2. Check the resistance RAS motor connector.
OK or NG
OK >> GO TO 3.
NG >> RAS motor malfunction. Replace RAS motor.1–Ground
Ignition switch ON : Battery voltage (Approx. 12 V)
Ignition switch OFF : Approx. 0V
SGIA1267E
Self-diagnosis results
MOTOR OUTPUT [ABNORMAL SIG] [C1913]
MOTOR OUTPUT [REV CURRENT] [C1902]
MOTOR OUTPUT [NO CURRENT] [C1903]
MOTOR OUTPUT [OVERCURRENT] [C1904]
MOTOR OUTPUT [MOTOR LOCK] [C1910]
DTC (warning lamp blinks)
13
Terminal 1 – 2 : Approx. 0.6 Ω
SGIA1268E

STC-38
[RAS]
TROUBLE DIAGNOSIS
Revision: 2007 April2007 M35/M45
3. CHECK RAS MOTOR HARNESS
1. Connect RAS motor harness connector B463.
2. Disconnect RAS control unit harness connector B476.
3. Check continuity RAS control unit harness connector B476.
OK or NG
OK >> RAS control unit malfunction. Replace RAS control unit.
NG >> Harness between RAS motor and RAS control unit open
or shorted. Repair or replace harness.
Inspection 4: Vehicle Speed SignalNGS000ET
1. CHECK SPEEDOMETER
Start the engine, and then check the combination meter (speedometer) operation.
Does it operate normally?
YES >> GO TO 2.
NO >> Combination meter. Refer to DI-5, "
COMBINATION METERS" .
2. CHECK RAS CONTROL UNIT CONNECTOR
1. Turn ignition switch OFF, disconnect RAS control unit harness connector, and check terminal for deforma-
tion, disconnection, looseness, etc.
2. Reconnect harness connector securely, and perform self-diagnosis.
With CONSULT-II
Without CONSULT-II
Is above displayed on self-diagnosis display?
YES >> RAS control unit malfunction. Replace RAS control unit.
NO >> Connector terminal connection is loose, damaged, open, or shorted. Repair or replace the termi-
nal. Terminal 38 – 39 : Continuity should exist.
SGIA1269E
Self-diagnosis results
VEHICLE SPEED SEN [NO SIGNAL] [C1919]
DTC (warning lamp blinks)
21

STC-44
[RAS]
TROUBLE DIAGNOSIS
Revision: 2007 April2007 M35/M45
Inspection 8: Engine Speed Signal MalfunctionNGS000EX
1. CHECK SPEEDOMETER
Start the engine, and then check the combination meter (tachometer) operation.
Does it operate normally?
YES >> GO TO 2.
NO >> Combination meter. Refer to DI-5, "
COMBINATION METERS" .
2. CHECK RAS CONTROL UNIT CONNECTOR
1. Turn ignition switch OFF, disconnect RAS control unit harness connector, and check terminal for deforma-
tion, disconnection, looseness, etc.
2. Reconnect harness connector securely, and perform self-diagnosis.
With CONSULT-II
Without CONSULT-II
Is above displayed on self-diagnosis display?
YES >> RAS control unit malfunction. Replace RAS control unit.
NO >> Connector terminal connection is loose, damaged, open, or shorted. Repair or replace the termi-
nal.
Inspection 9: CAN Communication System MalfunctionNGS000EY
1. CHECK RAS CONTROL UNIT CONNECTOR
1. Turn ignition switch OFF, disconnect RAS control unit harness connector and rear wheel steering angle
sensor harness connector, and check terminal for deformation, disconnection, looseness, etc.
2. Reconnect harness connector securely, and perform CONSULT-II self-diagnosis.
Is above displayed on self-diagnosis display?
YES >>
If “CAN COMM [U1000]” is displayed, print out self–diagnosis. And then, GO TO LAN-50, "CAN
System Specification Chart" .

Replace RAS control unit if “CONTROL UNIT [CAN] [U1010]” is displayed.
NO >> Connector terminal connection is loose, damaged, open, or shorted. Repair or replace the termi-
nal.
Self-diagnostic results
MOTOR OUTPUT [C1921]
DTC (warning lamp blinks)
33
Self-diagnostic results
CAN COMM CIRCUIT [U1000]
CONTROL UNIT (CAN) [U1010]

TROUBLE DIAGNOSIS
STC-49
[RAS]
C
D
E
F
H
I
J
K
L
MA
B
STC
Revision: 2007 April2007 M35/M45
Check RAS Static/Dynamic CharacteristicsNGS000F3
1. CHECK (1): RAS ACTUATOR STROKE
Perform CONSULT-II “ACTIVE TEST”, and then check the actuator
stroke when turning the steering wheel clockwise or counterclock-
wise by 180° or more.
OK or NG
OK >> GO TO 2.
NG >> GO TO 3.
2. CHECK (2): RAS ACTUATOR STROKE
Perform CONSULT-II “ACTIVE TEST“. When turning the steering
wheel in neutral position (A), the rear wheel turns clockwise/counter-
clockwise periodically. At that time, check actuator stroke (B).
OK or NG
OK >> RAS static/dynamic characteristics inspection is com-
pleted.
NG >> GO TO 3.
3. CHECK RAS MOTOR
Check RAS motor itself separated from other parts. Refer to STC-50, "
RAS MOTOR" .
OK or NG
OK >> GO TO 4.
NG >> RAS motor malfunction. Check the stroke again after replacing.
4. CHECK REAR WHEEL STEERING ANGLE SENSOR
Check rear wheel steering angle sensor separated from other parts. Refer to STC-50, "
REAR WHEEL
STEERING ANGLE SENSOR" .
OK or NG
OK >> GO TO 5.
NG >> Rear wheel steering angle sensor malfunction. Check the stroke again after replacing.
5. CHECK RAS CONTROL UNIT
Replace RAS control unit. Check the symptom of malfunction again.
Is the malfunction corrected?
YES >> RAS control unit malfunction
NO >> GO TO 6.
6. REPLACE RAS ACTUATOR ASSEMBLY
Replace RAS actuator assembly. Check the symptom of malfunction again.
Is the malfunction corrected?
YES >> RAS actuator malfunction
NO >> Check rear suspension components. Refer to RSU-7, "
Components" . Neutral position (A)
Actuator stroke (B) : 2.8 - 3.0 mm (0.110 - 0.118 in)
SGIA1240E
Actuator stroke (B) : 2.3 - 2.5 mm (0.091 - 0.098 in)
SGIA1240E