TOYOTA RAV4 2006 Service Repair Manual

BC–48BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEM
BC
DIAGNOSIS SYSTEM
1. DIAGNOSIS
If the skid control ECU detects a malfunction, the ABS,
VSC and brake warning lights and the slip, downhill
assist control and AUTO LSD indicator lights come on in
accordance with the trouble area to warn the driver.
The table below indicates which lights come on when
there are malfunctions in particular functions.
: Light ON
: Light ON (Blinking)
-: Light OFF
HINT:
• *1: w/ Downhill assist control
• *2: w/ Hill-start assist control
• *3: for 2WD w/ AUTO LSD
Item /
Trouble AreaABS EBDBA (Brake
Assist)TRC VSCDownhill
assist
control*1Hill-start
assist
control*2AUTO
LSD*3
ABS warning
light
-----
Brake
warning light-
*4-----
VSC warning
light
Slip indicator
light
Downhill
assist control
indicator
light*1
(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)(Downhill
assist control
switch ON)
AUTO LSD
indicator
light*3--------
C132117E03

BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEMBC–49
BC
• *4: w/ 16-inch disc
• The DTCs can be read by connecting SST (09843-
18040) between the TC and CG terminals of the
DLC3 and observing the blinking pattern of the ABS
and VSC warning lights, or by using an intelligent
tester (see page BC-47).
• This system has a sensor signal check function (see
page BC-28).
2. CHECK WARNING LIGHT AND INDICATOR LIGHT
(a) Release the parking brake lever.
NOTICE:
Before releasing the parking brake lever, set
chocks to hold the vehicle for safety.
HINT:
When the parking brake is applied or the brake fluid
level is low, the brake warning light comes on.
(b) When the ignition switch is turned ON, check that
the ABS, VSC and brake warning lights and the slip,
downhill assist control and AUTO LSD indicator
lights come on and go off in about 3 seconds.
HINT:
If the warning lights do not illuminate, confirm
whether the bulbs have burned out, and also check
for CAN communication system DTCs, since the
skid control ECU and combination meter are
connected by the CAN communication line.
If the warning light remains on, perform relevant
troubleshooting procedures. The relevant
troubleshooting procedures are in the sections listed
in the table below.
C132117E03
Section Title See procedure
ABS Warning Light Remains ONBC-134

BC–50BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEM
BC
DTC CHECK / CLEAR
1. CHECK DTC (When Using Intelligent Tester)
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the ignition switch ON.
(c) Turn the tester on.
(d) Read the DTCs by following the prompts on the
tester screen.
HINT:
Refer to the intelligent tester operator's manual for
further details.
2. CLEAR DTC (When Using Intelligent Tester)
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the ignition switch ON.
(c) Turn the tester on.
(d) Operate the intelligent tester to clear the codes.
HINT:
Refer to the intelligent tester operator's manual for
further details.
3. CHECK DTC (When not Using Intelligent Tester)
(a) Using SST, connect terminals 13 (TC) and 4 (CG) of
the DLC3.
SST 09843-18040
(b) Turn the ignition switch ON.
(c) Read DTCs from the ABS warning light on the
combination meter.
HINT:
• If the ABS warning light does not blink, perform
relevant troubleshooting procedures. The
relevant troubleshooting procedures are in the
sections listed in the table below.
VSC Warning Light Remains ONBC-139
Brake Warning Light Remains ONBC-144
Slip Indicator Light Remains ONBC-152
Downhill assist control Indicator Light Remains ONBC-156
AUTO LSD Indicator Light Remains ONBC-164 Section Title See procedure
B127989E01
B127989E01
H100769E17
Trouble Area See Procedure
ABS warning light circuitBC-134 or BC-138

BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEMBC–51
BC
• As an example, the blinking patterns of the
normal system code and DTCs 11 and 21 are
shown below.
• DTCs are explained in the "DIAGNOSTIC
TROUBLE CODE CHART" (see page BC-57).
(d) After completing the check, disconnect SST from
terminals 13 (TC) and 4 (CG) of the DLC3, and turn
the ignition switch OFF.
HINT:
• If 2 or more malfunctions are detected at the
same time, the lowest numbered DTC is
displayed first.
4. CLEAR DTC (When not Using Intelligent Tester)
(a) Using SST, connect terminals 13 (TC) and 4 (CG) of
the DLC3.
SST 09843-18040
(b) Turn the ignition switch ON.
VSC warning light circuitBC-139 or BC-142
TC and CG terminal circuitBC-174 Trouble Area See Procedure
F100113E03
H100769E17

BC–52BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEM
BC
(c) Clear the DTCs stored in the skid control ECU by
depressing the brake pedal 8 times or more within 5
seconds.
(d) Check that the ABS and VSC warning lights come
on.
(e) Remove SST from the terminals of the DLC3.
(f) Turn the ignition switch OFF.
HINT:
Clearing the DTCs cannot be performed by
removing the cable from the negative (-) battery
terminal or the ECU-IG1 fuse.
5. END OF DTC CHECK/CLEAR
(a) Turn the ignition switch ON.
(b) Check that the ABS and VSC warning lights go off
within approximately 3 seconds.
(c) Turn the ignition switch OFF.
C135697

BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEMBC–53
BC
FREEZE FRAME DATA
1. FREEZE FRAME DATA
HINT:
• Whenever a DTC is detected or the ABS operates,
the skid control ECU stores the current vehicle
(sensor) state as freeze frame data.
• The skid control ECU stores the number of times
(maximum: 31) the ignition switch has been turned
from OFF to ON since the last time the ABS was
activated. However, if the vehicle was stationary or
running at a low speed (7 km/h [4.3 mph] or less), or if
a DTC is detected, the skid control ECU stops
counting.
• Freeze frame data at the time the ABS operates:
The skid control ECU stores and updates the data
whenever the ABS system operates.
When the ECU stores data at the time a DTC is
detected, the data stored when the ABS operated is
erased.
• Freeze frame data at the time a DTC is detected:
When the skid control ECU stores data at the time a
DTC is detected, no updates will be performed until
the data is cleared.
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the ignition switch ON.
(c) Turn the tester on.
(d) From the display on the tester, select "FREEZE
FRAME DATA".
B127989E01
Item (Display) Measurement Item Reference Values
FREEZE TIME Elapsed time after freeze frame data recorded Min.: 0 ms
Max.: 500 ms
#IG ON Number of ignition switch ON operations since
freeze frame data stored1 to 31
BUZZER Skid control buzzer signal ON: Skid control buzzer ON
OFF: Skid control buzzer OFF
STOP LAMP SW Stop light switch signal ON: Stop light switch ON
OFF: Stop light switch OFF
PARKING BRAKE SW Parking brake switch signal ON: Parking brake switch ON
OFF: Parking brake switch OFF
BRK PEDAL SW Brake pedal load sensing switch signal ON: Brake pedal released
OFF: Brake pedal depressed

BC–54BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEM
BC
GEAR POSITION Gear position information FAIL
1st
2nd
3rd
4th
5th
6th
P, N
R
NOT R
LEVER POSITION Shift lever position information FAIL
1st
2nd
3rd
4th
5th
6th/B
D/M
P, N
R
OPERATED SYSTEM Operated system status ABS: ABS activated
VSC: VSC activated
TRC: TRC activated
BA: BA activated
FAIL: Fail safe mode activated
HA-CTRL: Hill-start assist control activated
SYS: System prohibited
NON: No system activated
MAS CYL PRESS 1 Master cylinder pressure sensor reading Brake pedal released: 0.3 V to 0.9 V
Brake pedal depressed: 0.8 V to 4.5 V
M/C Sensor Grade Master cylinder pressure sensor change Min.: -30 MPa/s
Max.: 225 MPa/s
YAW RATE Yaw rate sensor reading Min.: -128 deg/s
Max.: 127 deg/s
STEERING SEN Steering sensor reading Left turn: Increase
Right turn: Decrease
LATERAL G Lateral G
Min.: -25.11 m/s
2
Max.: 24.91 m/s2
FORWARD&REA G Forward and backward G
Min.: -25.11 m/s2
Max.: 24.91 m/s2
FR WHEEL SPD FR wheel speed Min.: 0 km/h (0 mph)
Max.: 326.4 km/h (202.8 mph)
FL WHEEL SPD FL wheel speed Min.: 0 km/h (0 mph)
Max.: 326.4 km/h (202.8 mph)
RR WHEEL SPD RR wheel speed Min.: 0 km/h (0 mph)
Max.: 326.4 km/h (202.8 mph)
RL WHEEL SPD RL wheel speed Min.: 0 km/h (0 mph)
Max.: 326.4 km/h (202.8 mph)
VEHICLE SPD Vehicle speed Min.: 0 km/h (0 mph)
Max.: 326.4 km/h (202.8 mph)
SPD GARDE Vehicle speed grade
Min.: -25.11 m/s
2
Max.: 24.91 m/s2
ENGINE TORQUE Real engine torque Min.: -1024 Nm
Max.: 1023 Nm
ACCELERATOR % Accelerator pedal opening angle % Min.: 0%
Max.: 128%
INSPECTION MODE Inspection mode OTHER: Normal
INSPECT: Service Item (Display) Measurement Item Reference Values

BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEMBC–55
BC
FAIL-SAFE CHART
1. FAIL SAFE OPERATION
• If there is a problem with any sensor signals or
actuator systems, the skid control ECU prohibits the
power supply to the ABS and TRACTION actuator
and informs the ECM of VSC system failure.
The ABS and TRACTION actuator turns off the
solenoids and the ECM s huts off VSC control (traction
control signal) from the skid control ECU accordingly,
the result being that it is as if the ABS, TRC and VSC
systems were not installed.
• ABS control is prohibited, but EBD control continues
as far as possible. If EBD control is impossible, the
BRAKE warning light comes on to warn the driver
(see page BC-44).
• If system components have any malfunctions before
starting control, the operation stops immediately. If
system components have any malfunctions during
control, the control stops gradually so as not to trigger
a sudden change in vehicle conditions.
If it is impossible to control the systems, the warning
light comes on to inform the driver of malfunctions in
the systems (see page BC-44).
HINT:
• If the ABS system malfunctions, the brake system
operates normally without the ABS system.
• If the brake actuator malfunctions, a gradual loss of
brake performance is expected, and ABS system
control is prohibited.
ABS, EBD and BA system
TRC and VSC system:
Malfunction Area Fail-Safe Operation
ABS system ABS, BA, TRC and VSC control prohibited
BA system ABS, BA, TRC and VSC control prohibited
EBD system ABS, EBD, BA, TRC and VSC control prohibited
Malfunction Area Fail-Safe Operation
Engine control system
(TRC and VSC systems)Before control: Disables control
During control: Uses only the brakes to effect control
Brake control system
(VSC system)Before control: Disables control
During control: Uses only the engine to effect control
Brake control system
(TRC system)Before control: Disables control
During control: Disables control (by gradually ending control)

BC–56BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEM
BC
DATA LIST / ACTIVE TEST
1. READ DATA LIST
HINT:
Using the intelligent tester's DATA LIST allows switch,
sensor, actuator and other item values to be read without
out removing any parts. Reading the DATA LIST early in
troubleshooting is one way to save time.
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the ignition switch ON.
(c) Turn the intelligent tester on.
(d) Read the DATA LIST according to the display on the
tester.
Skid control ECU
Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ABS WARN LAMP ABS warning light / ON or OFF ON: ABS warning light ON
OFF: ABS warning light OFF-
VSC WARN LAMP VSC warning light / ON or OFF ON: VSC warning light ON
OFF: VSC warning light OFF-
BRAKE WARN LAMP Brake warning light / ON or OFF ON: Brake warning light ON
OFF: Brake warning light OFF-
SLIP INDI LAMP Slip indicator light / ON or OFF ON: Slip indicator light ON
OFF: Slip indicator light OFF-
D-HILL LIGHT*9 Downhill assist control indicator
light / ON or OFFON: Downhill assist control switch
ON
OFF: Downhill assist control
switch OFF-
AUTO LSD LAMP*10 AUTO LSD indicator light / ON or
OFFON: Traction control switch ON
OFF: Traction control switch OFF-
BUZZER Skid control buzzer / ON or OFF ON: Buzzer ON
OFF: Buzzer OFF-
STOP LAMP SW Stop light switch / ON or OFF ON: Brake pedal depressed
OFF: Brake pedal released-
PARKING BRAKE SW Parking brake switch / ON or OFF ON: Parking brake applied
OFF: Parking brake released-
BRK PEDAL SW Brake pedal load sensing switch /
ON or OFFON: Brake pedal depressed
beyond the specified point
OFF: Brake pedal not depressed
beyond the specified point-
IDLE SW Main idle switch / ON or OFF ON: Accelerator pedal released
OFF: Accelerator pedal
depressed-
DAC SW*9 Downhill assist control switch /
ON or OFFON: Downhill assist control switch
ON
ON: Downhill assist control switch
ON-
AUTO LSD SW*10 AUTO LSD switch / ON or OFF ON: AUTO LSD switch ON
ON: AUTO LSD switch ON-
GEAR POSITION Gear position information / P/N,
R, 1st-6th, FAIL, NOT R--
LEVER POSITION Shift lever position information / P/
N, R, D/M, 1st-6th/B, FAIL--
SHIFT INFO Shift information / ON or OFF ON: During gear change -
MAS CYL PRESS 1 Master cylinder pressure sensor 1
reading / min.: 0 V, max.: 5 VWhen brake pedal released: 0.3
to 0.9 VReading increases when brake
pedal depressed
ZERO M/C SEN Memorized zero point value of
master cylinder pressure sensor /
min.: -12.5 MPa, max.: 12.4 MPaMin.: -12.5 MPa
Max.: 12.4 MPa-

BRAKE CONTROL – VEHICLE STABILITY CONTROL SYSTEMBC–57
BC
DECELERAT SEN Deceleration sensor 1 reading /
min.: -18.52 m/s2, max.: 18.39 m/
s2
Min.: -18.52 m/s2
Max.: 18.39 m/s2
-
ZERO DECELERAT Memorized zero point value of
deceleration sensor 1 / min.: -
25.11 m/s
2, max.: 24.91 m/s2
Min.: -25.11 m/s2
Max.: 24.91 m/s2
-
DECELERAT SEN 2 Deceleration sensor 2 reading /
min.: -18.52 m/s
2, max.: 18.39 m/
s2
Min.: -18.52 m/s2
Max.: 18.39 m/s2
-
ZERO DECELERAT 2 Memorized zero point value of
deceleration sensor 2 / min.: -
25.11 m/s
2, max.: 24.91 m/s2
Min.: -25.11 m/s2
Max.: 24.91 m/s2
-
YAW RATE SENS 1 Yaw rate sensor 1 reading / min.: -
128 deg/s, max.: 127 deg/sMin.: -128 deg/s
Max.: 127 deg/s-
YAW RATE SENS 2 Yaw rate sensor 2 reading / min.: -
128 deg/s, max.: 127 deg/sMin.: -128 deg/s
Max.: 127 deg/s-
ZERO YAW RATE Memorized zero point value of
yaw rate sensor 1 / min.: -128
deg/s, max.: 127 deg/sMin.: -128 deg/s
Max.: 127 deg/s-
STEERING SEN Steering sensor reading / min.: -
3276.8 deg, max.: 3276.7 degLeft turn: Increase
Right turn: Decrease-
ZERO STEERING Memorized zero point value of
steering sensor / min.: -3276.8
deg, max.: 3276.7 degMin.: -3276.8 deg
Max.: 3276.7 deg-
LATERAL G
Lateral G / min.: -25.11 m/s
2,
max.: 24.91 m/s2Min.: -25.11 m/s2
Max.: 24.91 m/s2
-
FORWARD&REA G Forward and rearward G / min.: -
25.11 m/s
2, max.: 24.91 m/s2Min.: -25.11 m/s2
Max.: 24.91 m/s2
-
YAW RATE VALUE Yaw rate value / min.: -128 deg/s,
max.: 127 deg/sMin.: -128 deg/s
Max.: 127 deg/s-
STEERING ANGLE Steering angle value / min.: -
3276.8 deg, max.: 3276.7 degMin.: -3276.8 deg
Max.: 3276.7 deg-
FR WHEEL SPD Wheel speed sensor (FR) reading
/ min.: 0 km/h (0 mph), max.:
326.4 km/h (202.8 mph)Actual wheel speed Similar to speed indicated on
speedometer
FL WHEEL SPD Wheel speed sensor (FL) reading
/ min.: 0 km/h (0 mph), max.:
326.4 km/h (202.8 mph)Actual wheel speed Similar to speed indicated on
speedometer
RR WHEEL SPD Wheel speed sensor (RR) reading
/ min.: 0 km/h (0 mph), max.:
326.4 km/h (202.8 mph)Actual wheel speed Similar to speed indicated on
speedometer
RL WHEEL SPD Wheel speed sensor (RL) reading
/ min.: 0 km/h (0 mph), max.:
326.4 km/h (202.8 mph)Actual wheel speed Similar to speed indicated on
speedometer
VEHICLE SPD Maximum speed sensor reading /
min.: 0 km/h (0 mph), max.: 326.4
km/h (202.8 mph)Actual wheel speed Similar to speed indicated on
speedometer
FR WHEEL ACCEL FR wheel acceleration / min.: -
200.84 m/s
2, max.: 199.27 m/s2Min.: -200.84 m/s2
Max.: 199.27 m/s2
-
FL WHEEL ACCEL FL wheel acceleration / min.: -
200.84 m/s
2, max.: 199.271 m/s2Min.: -200.84 m/s2
Max.: 199.27 m/s2
-
RR WHEEL ACCEL RR wheel acceleration / min.: -
200.84 m/s
2, max.: 199.27 m/s2Min.: -200.84 m/s2
Max.: 199.27 m/s2
-
RL WHEEL ACCEL RL wheel acceleration / min.: -
200.84 m/s
2, max.: 199.27 m/s2Min.: -200.84 m/s2
Max.: 199.27 m/s2
- Tester Display Measurement Item/Range Normal Condition Diagnostic Note