ESP TOYOTA PRIUS 2001 Service User Guide

THS (TOYOTA HYBRID SYSTEM)
182TH29
Rotational
Magnetic FieldU PhaseStator Coil
Rotor
Repulsion
W Phase V Phase
: From inverter
: Connected internally in the motor
Attruction
182TH09
Magnetized Side
Coil A
Coil B
Coil C Speed Sensor
(Resolver)Output Side
182TH10
Inverter Power Cable HV Battery
Junction
BlockPortion routed through
the center floorAuxiliary
Battery
Under-
the-Floor
Reinforcement
12 V
Power Cable
Voltage 
Power Cable
Voltage

34
1. Permanent Magnet Motor
When a three-phase alternating current is passed
through the three-phase windings of the stator
coil, a rotational magnetic field is created in the
electric motor. By controlling this rotating mag-
netic field according to the rotor's rotational posi-
tion and speed, the permanent magnets that are
provided in the rotor become attracted by the ro-
tating magnetic field, thus generating torque.
The generated torque is for all practical purposes
proportionate to the amount of current, and the
rotational speed is controlled by the frequency of
the alternating current.
Furthermore, a high level of torque, all the way to
high speeds, can be generated efficiently by prop-
erly controlling the rotating magnetic field and the
angles of the rotor magnets.
2. Speed Sensor (Resolver)
This is an extremely reliable and compact sensor
that precisely detects the magnetic pole position,
which is indispensable for ensuring the efficient
control of MG1 and MG2.
The sensor's stator contains 3 coils as illustrated, and
output coils B and C are electrically staggered 90 de-
grees. Because the rotor is oval, the distance of the
gap between the stator and the rotor varies with the
rotation of the rotor. Thus, by passing an alternating
current through coil A, output that corresponds to the
sensor rotor's position is generated by coils B and C.
The absolute position can then be detected from the
difference between these outputs.
In addition, the amount of positional variance
within a predetermined time is calculated by the
HV ECU, thus enabling this sensor to be used as
an rpm sensor.
3. Power Cable
The power cable is a high-voltage, high-amperage
cable that connects the HV battery with the inverter,
and the inverter with MG1 and MG2. Starting from
the connector at the left front of the HV battery lo-
cated in the luggage compartment, the power cable
is routed under the rear seat, through the floor panel,
along the under-the-floor reinforcement, and con-
nects to the inverter in the engine compartment. A
shielded cable is used for the power cable in order to
reduce electromagnetic interference.
The 12 V  wiring of the auxiliary battery also
follows the same route.
For identification purposes, the high-voltage wir-
ing harness and connectors are color-coded
orange to distinguish them from those of the ordi-
nary low-voltage wiring.

THS (TOYOTA HYBRID SYSTEM)
182TH26
Inverter
Converter
182TH15
Inverter
HV
Battery
Ignition Signal
Ground
Voltage
Detection
Circuit
Voltage
Detection
Circuit
Bridge Circuit for MG2
Amperage
Sensor
Signal Processor /
Protective Function Processor
Bridge Circuit for MG1
Amperage
Sensor
MG2
HV ECU
MG1
182TH27
Reservoir Tank
Radiator
Water Pump35
INVERTER
1. General
The inverter is an electric power converter that
converts the direct current of the Hybrid vehicle's
high-voltage battery (DC 273.6 V) and the alter-
nating current of the MG1 and MG2.
Consisting of 2 three-phase bridge circuits for
MG1 and MG2, respectively, and each containing
6 power transistors, the inverter converts direct
current and three-phase alternating current. The ac-
tivation of the power transistors is controlled by the
HV ECU. In addition, the inverter transmits in-
formation that is needed for current control, such as
the output amperage or voltage, to the HV ECU.
Together with MG1 and MG2, the inverter is
cooled by the dedicated radiator of the coolant
system that is separate from that of the engine.
2. System Diagram
3. Cooling System
A cooling system via water pump for the inverter
and MG1, 2 has been added.
The HV ECU controls the water pump with cool-
ant temperature.
It is separated with the engine cooling system.

THS (TOYOTA HYBRID SYSTEM)
182TH11
HV Battery
SMR 2
SMR 1
Battery Module
(7.2 V x 19)
Resistor
Service Plug
High-Voltage Fuse
Battery Module
(7.2 V x 19)
SMR 3
182TH30
Service Plug 40
2. SMR (System Main Relay)
The SMR is a relay that connects and disconnects
the power source of the high-voltage circuit upon
receiving a command from the HV ECU. A total
of 3 relays, one for the negative side, and two for
the positive side, are provided to ensure proper op-
erations.
At the time of connection, SMR1 and SMR3 are
turned ON; after this, SMR2 is turned ON and
SMR1 is turned OFF. By allowing the controlled
current via the resistor to pass through initially in
this manner, the circuit is protected against rush
current.
At the time of disconnection, SMR2 and SMR3
are turned OFF in that order, and the HV ECU ver-
ifies that the respective relays have been properly
turned OFF.
3. Service Plug
By removing the service plug before performing any inspection or service, the high-voltage circuit is shut
off at the intermediate position of the HV battery, thus ensuring safety during service.
The service plug assembly contains a reed switch for interlock. Lifting the clip lock up turns OFF the reed
switch, which shuts off the SMR. However, to ensure safety, make sure to turn OFF the ignition switch before
removing the service plug. For further details on how to handle the service plug, refer to the 2001 Prius Repair
Manual (Pub No. RM778U). The main fuse for the high-voltage circuit is provided inside of the service plug
assembly.

CHASSIS ± P111 HYBRID TRANSAXLE
182CH25
182CH26Shift Position
Sensor
Shift
Position
SensorMain
Sub
HV
ECU
Serial Data
LinkEngine
ECUCombination
Meter
Voltage
: Defined
: Region
Voltage
Signal
Stroke B
D
N
R
P
PRNDBSwitch
Signal
Service Tip
Because it is extremely difficult to precisely assemble the shift position sensors, do not disassemble the
shift lever. 88

SHIFT CONTROL
1. Shift Lever
A column-type shift lever with 5 positions has been adopted. The shift lever is operated by moving it in the
vehicle's longitudinal direction to ensure excellent ease of use. The shift lever is integrated with the shift posi-
tion sensor.
2. Shift Control
For shift control, a shift-by-wire system has been
adopted. This system uses electrical signals that
are output by the shift position sensor to determine
the shift position. For operating the parking lock
pawl in the transaxle, however, a shift cable is used
for attaining P position.
The shift position sensor outputs two systems of
signals: the main switch signals, and the sub
switch signals containing high and low voltages.
When these signals match, the HV ECU deter-
mines the respective shift position.

CHASSIS ± BRAKES
182CH82
To
ReservoirFrom
AccumulatorRegulatorFrom
Reservoir Tank
ªBº
ªAºTo Rear
BrakeTo Front
Brake
Spool Valve
152CH28
To
Reservoir
ªAº
From
AccumulatorRegulatorTo
Reservoir Tank
Spool Valve
From Rear
BrakeFrom Front
Brake
Booster Chamber111
iii) Holding
This is a state in which the force that is applied via the brake pedal and the master cylinder pressure
are in balance.
The forces that are applied to the front and the rear of the regulator piston, in other words, forces that
are generated by the master cylinder pressure and the regulator pressure become balanced. This causes
the spool valve to close both port ªBº from the booster chamber to the accumulator and port ªAº to
the reservoir. As a result, the brake system is in the holding state.
iv) Pressure Reduce
When the force that is applied to the brake pedal is relaxed, the master cylinder pressure decreases.
Then, the regulator's return (rightward) force becomes relatively greater, causing the regulator to re-
tract and the spool valve to also retract. As a result, the port ªAº between the reservoir and the booster
chamber opens.
The booster pressure becomes reduced in this state, creating a balance that corresponds to the force
that is newly applied via the brake pedal. This process is performed repetitively to reduce the booster
pressure and the master cylinder pressure in accordance with the force that is applied via the brake
pedal.

CHASSIS ± STEERING
182CH95
182CH76
Twist Angle
Basic Position
Cornering
Torque
[V]
Voltage
Voltage difference between
outputs 1 and 2 during
straight line driving (0)
Torque Sensor 2
Torque Sensor 1
0 ±+
Right Turn Left Turn127
ii) Steering to the right
When the driver turns the steering to the
right, the steering torque is transmitted to
the pinion shaft's input shaft, causing the
input shaft to rotate. Because the reaction
force of the ground surface acts on the rack
bar, the torsion bar that links the input shaft
and the pinion twists until a torque that
equalizes with the reaction force is gener-
ated. Thus, a relative displacement is
created between the resistor that is secured
onto the input shaft and the contact that is
secured onto the pinion shaft's output shaft.
As a result, the resistance changes, causing
the torque sensor's outputs 1 and 2 to
change as shown in the right diagram. The
EMPS ECU uses this voltage difference to
calculate the power assist torque to drive
the DC motor, thus generating a power as-
sist force in the pinion shaft via the reduc-
tion mechanism.
iii) Steering Hold Condition
The torsion bar shift to a position in which the sum of the driver's steering torque and the motor's assist
torque equalizes with the reaction force of the ground surface in order to maintain the steering holding
condition.
EMPS ECU
1) EMPS Control
The EMPS ECU receives signals from various sensors, judges the current vehicle condition, and deter-
mines the assist ampere to be applied to the DC motor accordingly.
2) Self-Diagnosis
If the EMPS ECU detects a malfunction in the EMPS system, the warning light that corresponds to the
function in which the malfunction has been detected lights up to alert the driver of the malfunction.
The EMPS ECU will also store the codes of the malfunctions. The DTCs (Diagnostic Trouble Codes)
can be accessed through the use of a hand-held tester. For details, see the 2001 Prius Repair Manual (Pub.
No. RM778U).
3) Fail-Safe
If the EMPS ECU detects a malfunction in the EMPS system, the system basically turns OFF the power
to prohibit power assist. As a result, the EMPS system operates the same way as manual steering.
However, depending on the location in which the malfunction occurred, power assist may be provided
by reducing the power assist amperage or by fixing the amount of power assist without relying on the
vehicle speed.

BODY ELECTRICAL ± AIR CONDITIONING
182BE50
Large
Target
Damper
Opening
Angle
Small
Large Small
Tentative Damper Opening Angle167
Calculation of Required Outlet Air Temperature (TAO: Temperature Air Outlet)
After receiving the signals from the sensors and the temperature control switch setting, the air conditioning
ECU uses the formula shown below to calculate the required outlet air temperature, to regulate the servomo-
tors and blower motor. This is an outlet air temperature that is required in maintaining the set temperature
in a stable manner.
TAO=KSETx TSET±Kr x TR±KAMx TAMdisp±KsxTS+C±TCTA O = KSET x TSET ± Kr x TR ± KAM x TAMdisp ± Ks x TS + C ± TC
KSET= Setting Temperature Coefficient TSET = Setting Temperature
Kr = Room Air Temperature Coefficient TR = Room Air TemperatureKr= Room Air Temperature CoefficientTR= Room Air Temperature
K
AM= Ambient Air Temperature Coefficient TAMdisp = Ambient Air TemperatureAMppp
Ks = Solar Radiation Coefficient TS = Solar Radiation
C = Correct Constant TC = Compressor ON / OFF CorrectC= Correct ConstantTC= Compressor ON / OFF Correct
= Constant
Temperature Control System
1) Air Mix Damper Control
In response to the temperature control switch setting, the required ambient temperature, evaporator tem-
perature sensor, and engine coolant temperature sensor compensations are used by the air mix damper
control to calculate a tentative damper opening angle, through an arithmetic circuit in the air mix damper,
to arrive at a target damper opening angle.

Calculating the Target Damper Opening 

BODY ELECTRICAL ± AIR CONDITIONING
182BE51
Hi
Lo Blower
Air
Volume
Small Large
Amount of Sunligt
182BE28182BE29
1
0
Small Large
Vehicle Speed Fresh Air
Recirculation
182BE52
Outlet Air
Half
Inlet Air
Low High
TAO (Temperature Air Outlet) 170
d. Sunlight Air Flow Control
Controls the blower speed in accordance
with the intensity of the sunlight when the air
outlet mode is at FACE or BI-LEVEL. The
blower low speed can be adjusted up to 4
steps, in response to the sunlight signal re-
ceived from the solar sensor.
2-Way Flow Mode Control
At the time of selecting FRESH mode, air conditioning ECU will judge it as 2-way flow mode when the
blower outlet is selected to FOOT or FOOT / DEF, the tentative air mix damper opening angle is above the
specified valve (MAX HOT), and either the blower volume is more than the specified volume or the vehicle
speed is less than the specified speed.
Half Inlet Air Mode Control
At the time of selecting FRESH mode, air condi-
tioning ECU will judge it as half inlet air mode
when the blower outlet mode is selected to FACE
or BI-LEVEL and TAO (Temperature Air Out-
let) is more than the specified temperature, and
operates both outlet air introduction and inlet air
circulation at the same time.

BODY ELECTRICAL ± ACCESSORIES
151LBE24
GPS Sateilites
Difference
Difference
Difference
Difference181
5) Detecting the Vehicle Position
The navigation ECU calculates the position based on the principle of a 3-point measurement.
The GPS satellites are equipped with high-precision clocks. Thus, the satellites are able to transmit con-
tinuous orbit signals and radiowave transmission time signals.
The navigation ECU also contains a clock, which can understand the radiowave time signals that are re-
ceived from the satellites.
As a result, the length of time that is taken by the radiowaves to arrive from the satellites to the antenna
can be determined. Thus, the lengths of time that elapse for the radiowaves of the 4 satellites to reach
the antenna are measured. Each of these lengths of time are multiplied by the luminous flux (the rate of
transmission of luminous energy: approximately 300,000 km per second), the results of which are the
distances from the satellites to the antenna. Because the positions of the GPS satellites are known by their
signals, the receiving point (vehicle position) can be rendered as the point in which the 4 spheres (of
which the centers are the respective satellites) converge.
However, due to the differences that exist between the clocks of the satellite and the ECU, the 4 spheres
do not converge at a single point. Therefore, the ECU uses another satellite to calculate the point at which
the 4 spheres converge at a single point and corrects its internal clock. As a result, the ECU determines
the vehicle position and adjusts its internal clock to the clocks of the satellites.

DTC No.
Indicates the diagnostic trouble code.

Page or Instructions
Indicates the page where the inspection procedure
for each circuit is to be found, or gives instructions
for checking and repairs.

Detection Item
Indicates the system of the problem or
contents of the problem.
Trouble Area
Indicates the suspect area of the
problem.
Mass Air Flow Circuit MalfunctionDetection Item

Open or short in mass air flow meter circuit

Mass air flow meter

ECM DTC No.
(See page)Trouble AreaMIL* MemoryP0100
(DI±24)
P0101
(DI±28)
P0115
(DI±33)
Open or short in intake air temp. sensor
circuit

Intake air temp. sensor

ECM Intake Air Temp. Circuit
Malfunction P0110
(DI±29)

Open or short in engine coolant temp. sensor circuit

Engine coolant temp. sensor

ECM
Throttle/ Pedal Position Sensor/Switch
ºAº Circuit MalfunctionEngine Coolant Temp.
Circuit Malfunction

Open or short in throttle position sensor circuit

Throttle position sensor

ECM
DTC CHART (SAE Controlled)
HINT:
Parameters listed in the chart may not be exactly the same as your reading due to the type of instrument or other
factors.
If a malfunction code is displayed during the DTC check mode, check the circuit for that code listed in the table
below. For details of each code, turn to the page referred to under the ºSee pageº for the respective ºDTC No.º
in the DTC chart.
Mass Air Flow Circuit
Range/ Performance Problem
Mass air flow meter

Throttle position sensor Throttle/ Pedal Position Sensor/ Switch
ºAº Circuit Range / Performance Prob-
lem P0116
(DI±37)Engine Coolant Temp.
Circuit Range/ Performance Problem
Engine coolant temp. sensor

Cooling system
± INTRODUCTIONHOW TO TROUBLESHOOT ECU CONTROLLED
SYSTEMSIN±37
2001 PRIUS (RM778U)
4. DIAGNOSTIC TROUBLE CODE CHART
The inspection procedure is shown in the table below. This table permits efficient and accurate troubleshoot-
ing using the diagnostic trouble codes displayed in the diagnostic trouble code check. Proceed with trouble-
shooting in accordance with the inspection procedure given in the diagnostic chart corresponding to the
diagnostic trouble codes displayed. The engine diagnostic trouble code chart is shown below as an example.