2006 TOYOTA RAV4 power steering

PS–8POWER STEERING – ELECTRONIC POWER STEERING SYSTEM
PS
PROBLEM SYMPTOMS TABLE
HINT:
Use the table below to help determine the cause of the
problem symptom. The potential causes of the symptoms are
listed in order of probability in the "Suspected area" column of
the table. Check each symptom by checking the suspected
areas in the order they are listed. Replace parts as
necessary.
Electronic power steering system
Symptom Suspected area See page
Heavy steering1. Front tires (improperly inflated, unevenly worn)TW-1
2. Front wheel alignment (incorrect)SP-3
3. Front suspension (lower ball joint)SP-27
4. Steering gear assemblyPS-42
5. Power steering motor PS-25
6. Power source voltage of power steering ECUPS-37
7. Power steering ECUPS-46
Steering effort differs between turning right and left, or
steering effort uneven1. Front tires (improperly inflated, unevenly worn)TW-1
2. Front wheel alignment (incorrect)SP-3
3. Front suspension (lower ball joint)SP-27
4. Steering gear assemblyPS-42
5. Torque sensor (built into steering column) PS-22
6. Steering column assemblySR-11
7. Power steering motor PS-25
8. Power steering ECUPS-46
While driving, steering effort does not change in
accordance with vehicle speed or steering wheel does
not return properly1. Front suspension (lower ball joint)SP-27
2. Speed sensorBC-28
3. Skid control ECUBC-41
4. Torque sensor (built into steering column) PS-22
5. Power steering motor PS-25
6. Power steering ECUPS-46
7. Controlling CAN communication systemCA-8
Friction occurs when turning steering wheel during low
speed driving1. Power steering motor PS-25
2. Steering column assemblySR-11
High-pitched sound (squeaking) occurs when turning
steering wheel slowly with vehicle stopped1. Power steering motor PS-25
Steering wheel vibrates and noise occurs when turning
steering wheel with vehicle stopped1. Power steering motor PS-25
2. Steering column assemblySR-11
P/S warning always indicated on combination meter1. Power source voltage of power steering ECUPS-37
2. Combination meterME-53
3. Power steering ECUPS-46

POWER STEERING – ELECTRONIC POWER STEERING SYSTEMPS–9
PS
TERMINALS OF ECU
1. CHECK POWER STEERING ECU
HINT:
Measurements cannot be performed on the C connector
side of the power steering ECU.
(a) Measure the voltage and resistance of the
connectors.
F100917E04
Symbols Wiring Color Terminal Description
U W U phase motor output
V B V phase motor output
W W-R W phase motor output
Symbols (Terminal No.) Wiring Color Terminal Description ConditionSpecified Condition
PIG (A1-1) - PGND (A1-2) W-B - W-B Power source Always 10 to 14 V
IG (E18-5) - PGND (A1-2) L - W-B IG power source Ignition switch ON 10 to 14 V
TRQ1 (e1-6) - TRQG (e1-
1)G - B Torque sensor signal Ignition switch ON
Steering wheel not turned
(without load)2.3 to 2.7 V
Ignition switch ON
Steering wheel turned to
right with vehicle stopped2.5 to 4.04 V
Ignition switch ON
Steering wheel turned to
left with vehicle stopped0.95 to 2.5 V
TRQ2 (e1-2) - TRQG (e1-
1)Y - B Torque sensor signal Ignition switch ON
Steering wheel not turned
(without load)2.3 to 2.7 V
Ignition switch ON
Steering wheel turned to
right with vehicle stopped0.95 to 2.5 V
Ignition switch ON
Steering wheel turned to
left with vehicle stopped2.5 to 4.04 V
TRQF (e1-4) - TRQG (e1-
1)W - B Torque sensor reference
voltageIgnition switch ON 3.35 to 3.37 V
TRQV (e1-3) - TRQG (e1-
1)R - B Torque sensor voltage
sourceIgnition switch ON 8.5 to 10.5 V
TRQG (e1-1) - Body
groundB - Body ground Torque sensor ground Always Below 1

PS–10POWER STEERING – ELECTRONIC POWER STEERING SYSTEM
PS
If the result is not as specified, the ECU may have a
malfunction.
DIAGNOSIS SYSTEM
1. CHECK DLC3
(a) Check the DLC3:
The power steering ECU uses CAN (ISO11898-1)
and ISO9141-2 for communication protocol. The
terminal arrangement of the DLC3 complies with
SAE J1962 and matches the ISO9141-2 format.
NOTICE:
*: Before measuring the resistance, leave the
vehicle as is for at least 1 minute and do not
operate the ignition switch, other switches or
the doors.
If the result is not as specified, the DLC3 may have
a malfunction. Repair or replace the harness and
connector.
HINT:
Connect the cable of the intelligent tester to the
DLC3, turn the ignition switch ON and attempt to
use the tester. If the display indicates that a
communication error has occurred, there is a
problem either with the vehicle or with the tester.
PGND (A1-2) - Body
groundW-B - Body ground Power ground Always Below 1
C1 (e2-1) - PGND (A1-2) R - W-B Resolver signal Ignition switch ON
Steering wheel is turned0.68 to 4.42 V
C2 (e2-5) - PGND (A1-2) L - W-B Resolver signal Ignition switch ON
Steering wheel is turned0.68 to 4.42 V
S1 (e2-2) - PGND (A1-2) B - W-B Resolver signal Ignition switch ON
Steering wheel is turned0.68 to 4.42 V
S2 (e2-6) - PGND (A1-2) Y - W-B Resolver signal Ignition switch ON
Steering wheel is turned0.68 to 4.42 V
R1 (e2-4) - PGND (A1-2) W - W-B Resolver excitation signal Ignition switch ON
Steering wheel is turned2.9 to 5.1 V
R2 (e2-8) - PGND (A1-2) G - W-B Resolver excitation signal Ignition switch ON
Steering wheel is turned2.9 to 5.1 V
CANH (E18-2) - CANL
(E18-8)Y - W CAN communication line Ignition switch OFF 54 to 67
Symbols (Terminal No.) Wiring Color Terminal Description ConditionSpecified Condition
H100769E43
Symbols (Terminal No.) Terminal Description Condition Specified Condition
SIL (7) - SG (5) Bus [+] line During transmission Pulse generation
CG (4) - Body ground Chassis ground Always Below 1
SG (5) - Body ground Signal ground Always Below 1
BAT (16) -Body ground Battery positive Always 11 to 14 V
CANH (6) - CANL (14) HIGH-level CAN bus line Ignition switch OFF*54 to 67
CANH (6) - Battery positive HIGH-level CAN bus line Ignition switch OFF* 1 M or higher
CANH (6) - CG (4) HIGH-level CAN bus line Ignition switch OFF* 200
or higher
CANL (14) - Battery positive LOW-level CAN bus line Ignition switch OFF* 1 M
or higher
CANL (14) - CG (4) LOW-level CAN bus line Ignition switch OFF* 200
or higher

POWER STEERING – ELECTRONIC POWER STEERING SYSTEMPS–11
PS
• If communication is normal when the tester is
connected to another vehicle, inspect the DLC3
of the original vehicle.
• If communication is still not possible when the
tester is connected to another vehicle, the
problem may be in the tester itself. Consult the
Service Department listed in the tester's
instruction manual.
2. WARNING LIGHT
(a) When a problem occurs in the electronic power
steering system, the P/S warning light on the
combination meter comes on to inform the driver of
the problem.
DTC CHECK / CLEAR
1. CHECK DTC
(a) When using intelligent tester:
(1) Connect the intelligent tester (with CAN VIM) to
the DLC3.
(2) Turn the ignition switch ON and press the
intelligent tester main switch ON.
(3) Read the DTCs by following the prompts on the
intelligent tester.
HINT:
Refer to the intelligent tester operator's manual
for further details.
(b) When not using intelligent tester:
(1) Using SST, connect terminals 13 (TC) and 4
(CG) of the DLC3.
SST 09843-18040
(2) Turn the ignition switch ON.
C128851E01
B127989E01
H100769E10

PS–12POWER STEERING – ELECTRONIC POWER STEERING SYSTEM
PS
(3) Read and write down any DTCs indicated by the
P/S warning light on the combination meter.
Refer to the chart below for examples of a
normal code and DTCs 21 and 22.
HINT:
• If the P/S warning light does not blink to
display any DTCs set or the normal code,
inspect the circuit shown in the table below.
• If two or more malfunctions are detected
simultaneously, DTCs will be displayed in
ascending numerical order.
(4) Refer to the Diagnostic Trouble Code Chart (See
page PS-16) for DTC information.
2. CLEAR DTC
(a) When using intelligent tester:
(1) Connect the intelligent tester (with CAN VIM) to
the DLC3.
(2) Turn the ignition switch ON and press the
intelligent tester main switch ON.
(3) Clear the DTCs by following the prompts on the
intelligent tester.
(4) Turn the ignition switch OFF.
(5) Disconnect the intelligent tester from the DLC3.
B128060E02
Trouble Area See Page
EPS warning light circuitPS-37

POWER STEERING – ELECTRONIC POWER STEERING SYSTEMPS–13
PS
(b) When not using intelligent tester:
(1) Using SST, connect terminals 12 (TS) and 4
(CG) of the DLC3.
SST 09843-18040
(2) Turn the ignition switch ON.
(3) Disconnect the SST check wire from terminal 4
(CG) and reconnect it, and repeat this procedure
4 times or more within 8 seconds.
(4) Check that the P/S warning light blinking pattern
is the normal code.
(5) Turn the ignition switch OFF.
(6) Remove SST from the DLC3.
H100769E03

PS–14POWER STEERING – ELECTRONIC POWER STEERING SYSTEM
PS
FREEZE FRAME DATA
1. FREEZE FRAME DATA
NOTICE:
• It is difficult to show the specified values
(judgment values) clearly because freeze frame
data values change significantly due to
differences in measurement conditions,
surroundings, or vehicle conditions. For this
reason, there may be a problem even when the
values are within specifications.
• Turn the ignition switch ON and park the vehicle
on level ground. Check the freeze frame data by
using intelligent tester.
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the ignition switch ON and check the freeze
frame data by following the prompts on the
intelligent tester display.
Power steering ECU
Item Item Description: Range
(Display)Inspection Condition Reference Value
BATTERY VOLTAGE Battery voltage:
Min.: 0 V
Max.: 25.5 V- 10 to 14 V
SPD Vehicle speed from meter:
Min.: 0 km/h (0 mph)
Max.: 300 km/h (187.5 mph)Vehicle stopped 0 km/h (mph)
Vehicle driven at constant speedNo significant fluctuation
ENGINE REV Show the engine revolution:
Min.: 0 rpm
Max.: 12800 rpmEngine is running at a constant
speedNo significant fluctuation
MOTOR ACTUAL Amount of current to motor:
Min.: -327.68 A
Max.: 327.67 APower steering is in operationValue changes in proportion to
steering effort
COMMAND VALUE Demanded amount of current to
motor:
Min.: -327.68 A
Max.: 327.68 APower steering is in operationValue changes in proportion to
steering effort
STR ANGL VEL Steering angle speed:
Min.: -32768
/sec.
Max.: 32767/sec.Steering wheel is turned Value changes in proportion to
steering effort
STEERING TORQUE Steering wheel torque:
Min.: -7 Nm
Max.: 7 Nm--
THERMISTOR TEMP ECU substrate temperature:
Min.: -40
C
Max.: 150
CIgnition switch ON -
PIG SUPPLY Power source voltage to activate
motor:
Min.: 0 V
Max.: 20.1531 VPower steering in operation 10 to 14 V
IG SUPPLY ECU power source voltage:
Min.: 0 V
Max.: 20.1531 VIgnition switch ON 10 to 14 V
MOTOR ROTATE Motor rotation angle:
Min.: 0
Max.: 360
Power steering in operation During steering operation, motor
rotation angle value changes from
0 to 360
MOTOR VOLTAGE Motor power supply voltage:
0 V
Max.: 45.955 VPower steering in operation -

POWER STEERING – ELECTRONIC POWER STEERING SYSTEMPS–15
PS
MTR TERMINAL(U) Motor terminal voltage (U phase):
Min.: 0 V
Max.: 46.667 VSteering wheel is turned While turning the steering wheel,
a value within the range of 1 V to
approximately 0.7 V less than the
battery voltage is displayed. (The
value changes according to the
steering load.)
MTR TERMINAL(V) Motor terminal voltage (V phase):
Min.: 0 V
Max.: 46.667 VSteering wheel is turned While turning the steering wheel,
a value within the range of 1 V to
approximately 0.7 V less than the
battery voltage is displayed. (The
value changes according to the
steering load.)
MTR TERMINAL(W) Motor Terminal voltage (W
phase):
Min.: 0 V
Max.: 46.667 VSteering wheel is turned While turning the steering wheel,
a value within the range of 1 V to
approximately 0.7 V less than the
battery voltage is displayed. (The
value changes according to the
steering load.)
PS ASSIST SIG Power steering assist signal:
ON or OFF-- Item Item Description: Range
(Display)Inspection Condition Reference Value