
Downloaded from www.Manualslib.com manuals search engine 2C-12 Rear Suspension: 
• Check noise and smooth rotation of wheel by rotating wheel. If it is defect ive, replace bearing.
Spindle Removal and InstallationS7RS0B2306014
Removal
1) Remove rear brake caliper assembly and brake disc.  For details, refer to Step 2)  to 4) of “Removal” under 
“Rear Brake Disc Removal and Installation in 
Section 4C”.
2) Remove rear wheel hub. For details, refer to Step 3)  to 5) of “Removal” under “Rear Wheel Hub Removal 
and Installation”.
3) Disconnect wheel speed sensor (1).
4) Remove brake disc dust cover (2) and spindle (3)  from rear axle. Installation
1) Install brake disc dust cover (1), spindle (2) and new  spindle bolts (3) and then tighten spindle bolts to 
specified torque.
CAUTION! 
Never reuse the removed rear spindle bolts.
Bolts are pre-coated wi th friction stabilizer.
Be sure to replace pre-coated bolt with a new 
one, or bolt may loosen.
 
Tightening torque
Rear spindle bolt (a):  88 N·m (8.8 kgf-m, 64.0 lb-
ft)
2) Connect wheel speed sensor (4) and tighten wheel  speed sensor bolt to specified torque.
Tightening torque
Wheel speed sensor bolt (b):  11 N·m (1.1 kgf-m, 
8.0 lb-ft)
3) Install rear wheel hub re ferring to “Rear Wheel Hub 
Removal and Installation”.
4) Install brake disc and rear brake caliper assembly  referring to “Rear Brake Disc Removal and 
Installation in Section 4C”.
5) Install wheel and tighten wheel nuts to specified  torque.
Tightening torque
Wheel nut:  85 N·m (8.5 kgf-m, 61.5 lb-ft)
6) Adjust parking brake cable. For adjustment, see  “Parking Brake Inspection and Adjustment in Section 
4D”.
7) Perform brake test (foot brake and parking brake).
8) Check each installed part for fluid leakage.
I3RM0A230050-01
2
1 3
I6RS0B230015-01
1
(b)
4
2
3, (a)
I6RS0B230016-01  

Downloaded from www.Manualslib.com manuals search engine Drive Shaft / Axle:  3A-5
8) Disconnect front suspension control arm ball joint 
stud from steering knuckle.
9) Pull out drive shaft joint as follows. • For differential sideUsing tire lever (1), pull out drive shaft joint (2) so 
as to release snap ring fitting of joint spline at 
differential side.
• For center shaft side Using plastic hammer (3), drive out drive shaft 
joint (2) so as to release  snap ring fitting of joint 
spline at center shaft.
10) Remove drive shaft assembly. 11) Remove center bearing support bolts (3) and remove  center bearing support (2) with center shaft (1) from 
differential side gear. Installation
CAUTION! 
• Be careful not to damage oil seals and 
boots when installing drive shaft.
• Do not hit joint boot with hammer.  Inserting joint only  by hands is allowed.
• Make sure that differential side joint is  inserted fully and its snap ring is seated as 
it was.
 
Install drive shaft assemb ly by reversing removal 
procedure and noting the following points.
• Tighten each bolt and nut to the specified torque  referring to “Front Drive  Shaft Assembly Components 
Location”.
• Tighten brake hose mounting bolt to specified torque.
Tightening torque
Brake hose mounting bolt:  25 N·m (2.5 kgf-m, 
18.0 lb-ft)
• Fill transaxle with oil as sp ecified referring to “A/T 
Fluid Change in Section 5A” or “Manual Transaxle Oil 
Change in Section 5B”.
• Check toe setting referring to “Front Wheel Alignment  Inspection and Adjustment in Section 2B” and adjust 
as required.
[A]: Differential side
[B]: Center shaft side
I6RS0C310006-01
3
2
1I2RH01310007-01  

Downloaded from www.Manualslib.com manuals search engine Table of Contents 4- i
4
Section 4
CONTENTS
Brakes
Precautions ................................................. 4-1
Precautions............................................................. 4-1
Precautions for Brakes .......................................... 4-1
Brake Control System and Diagnosis ... 4A-1
Precautions........................................................... 4A-1Precautions on Brake .......................................... 4A-1
General Description ............................................. 4A-1 Brakes Construction ............................................ 4A-1
Brake Pedal Foot Protection System Construction ...................................................... 4A-2
Front Brake Hose / Pipe Co nstruction................. 4A-3
Rear Brake Hose / Pipe Construction ................. 4A-4
Diagnostic Information and Procedures ............ 4A-4 Brakes Diagnosis Note ....................................... 4A-4
Brakes Symptom Diagnosis ................................ 4A-5
Repair Instructions .............................................. 4A-7 Brake Pedal Components ................................... 4A-7
Brake Pedal Free Height Inspection ................... 4A-7
Brake Pedal Play Inspection ............................... 4A-7
Excessive Pedal Travel Inspection ..................... 4A-8
Brake Fluid Level Inspection ............................... 4A-8
Stop Light Switch Adjustment ............................. 4A-8
Air Bleeding of Brake System ............................. 4A-9
Front Brake Hose / Pipe Removal and Installation ....................................................... 4A-10
Rear Brake Hose / Pipe Removal and  Installation ....................................................... 4A-10
Brake Hose and Pipe Inspection ....................... 4A-11
Master Cylinder Components............................ 4A-11
Master Cylinder Assembly Removal and  Installation ....................................................... 4A-12
Master Cylinder Rese rvoir Removal and 
Installation ....................................................... 4A-13
Master Cylinder Assemb ly Disassembly and 
Assembly ........................................................ 4A-14
Master Cylinder Assembly Inspection ............... 4A-15
Brake Booster Components .............................. 4A-15
Booster Operation Inspection ........................... 4A-16
Brake Booster Removal and Installation ........... 4A-17
Brake Booster Inspection and Adjustment ........ 4A-18
Specifications ..................................................... 4A-18
Tightening Torque Specifications ...................... 4A-18
Special Tools and Equipmen t ........................... 4A-18 Recommended Service Material ....................... 4A-18
Front Brakes .......
..................................... 4B-1
Repair Instructions ........... ...................................4B-1
Front Disc Brake Components ............................ 4B-1
Front Disc Brake Pad On-Vehicle Inspection ...... 4B-2
Front Disc Brake Pad Removal and  Installation ......................................................... 4B-2
Front Disc Brake Pad Inspection......................... 4B-3
Front Disc Brake Ca liper Removal and 
Installation ......................................................... 4B-3
Front Disc Brake Caliper Disassembly and  Assembly........................................................... 4B-4
Front Disc Brake Caliper In spection.................... 4B-6
Front Brake Disc Removal and Installation ......... 4B-6
Front Brake Disc Inspection ................................ 4B-7
Specifications .................... ...................................4B-8
Tightening Torque Specifications ........................ 4B-8
Special Tools and Equipmen t .............................4B-8
Recommended Service Material ......................... 4B-8
Special Tool ........................................................ 4B-8
Rear Brakes................... ........................... 4C-1
Repair Instructions ........... ...................................4C-1
Rear Disc Brake Components.............................4C-1
Rear Disc Brake Pad Removal and  Installation .........................................................4C-2
Rear Disc Brake Caliper Removal and  Installation .........................................................4C-3
Rear Disc Brake Pad Inspection .........................4C-6
Rear Disc Brake Caliper Disassembly and  Assembly...........................................................4C-6
Rear Disc Brake Caliper Inspection ....................4C-8
Rear Flexible Hose Remova l and Installation .....4C-8
Rear Brake Disc Removal and Installation..........4C-9
Rear Brake Disc Inspection.................................4C-9
Specifications .................... .................................4C-10
Tightening Torque Specifications ......................4C-10
Special Tools and Equipmen t ...........................4C-11
Recommended Service Material .......................4C-11
Special Tool ......................................................4C-11
Parking Brake ................. ......................... 4D-1
General Description .............................................4D-1
Parking Brake Cable Construction ......................4D-1  

Downloaded from www.Manualslib.com manuals search engine Table of Contents 4-iii
ABS Warning Lamp Check ............................... 4F-14
EBD Warning Lamp (Brake Warning Lamp)  Check .............................................................. 4F-15
DTC Check ....................................................... 4F-15
DTC Table ......................................................... 4F-15
DTC Clearance ................................................. 4F-18
Fail-Safe Table ................ .................................. 4F-19
Scan Tool Data ................................................. 4F-20
Visual Inspection ............................................... 4F-21
ESP ® Warning Lamp Does Not Come ON at 
Ignition Switch ON .......................................... 4F-21
ESP ® Warning Lamp Comes ON Steady......... 4F-22
ABS Warning Lamp Does Not Come ON at  Ignition Switch ON .......................................... 4F-23
ABS Warning Lamp Comes  ON Steady............ 4F-24
EBD Warning Lamp (Brake Warning Lamp)  Comes ON Steady .......................................... 4F-24
Serial Data Link Circuit Check .......................... 4F-26
DTC C1016: Stop Lamp Swit ch Circuit Failure .. 4F-28
DTC C1017 / C1023: Yaw Rate / G Sensor  Assembly Failure ............................................ 4F-29
DTC C1018: Brake Fluid Le vel Switch Failure .. 4F-30
DTC 1020: Master Cylinder Pressure Sensor  Power Supply Failure ...................................... 4F-31
DTC C1021, C1022 / C1025, C1026 / C1031,  C1032 / C1035, C1036: Wheel Speed 
Sensor Circuit or Encode r Failure ................... 4F-32
DTC C1024: Steering  Angle Sensor Circuit 
Failure ............................................................. 4F-34
DTC C1027: ESP ® OFF Switch Circuit 
Failure ............................................................. 4F-34
DTC C1028: Master Cylinder Pressure  Sensor Circuit Failure ....... .............................. 4F-35
DTC C1034: Yaw Rate / G Sensor Assembly  Power Supply Failure ...................................... 4F-36
DTC C1037: Steering Angle Sensor Power  Supply Failure ................................................. 4F-37
DTC C1038: Steering Angle Sensor Detect  Rolling Counter Fa ilure from ESP® Control 
Module ............................................................ 4F-38
DTC C1039: Yaw Rate / G Sensor Assembly  Internal Failure .............. .................................. 4F-39
DTC C1040: Stability Control System  Function Failure .............................................. 4F-39
DTC C1041 / C1042 / C1043 / C1044 / C1045  / C1046 / C1051 / C1052 / C1053 / C1054 / 
C1055 / C1056: Solenoid Circuit Failure ......... 4F-40
DTC C1057: ESP ® Control Module Power 
Supply Circuit Failure .... .................................. 4F-41
DTC C1061: Pump Motor and/or Motor Driver  Circuit Failure .................................................. 4F-42
DTC C1063: Solenoid Valve Power Supply  Driver Circuit Failure ....................................... 4F-43
DTC 1071: ESP ® Control Module Internal 
Defect.............................................................. 4F-44 DTC C1073: Lost Communication With Yaw 
Rate / G Sensor Assembly .............................. 4F-45
DTC C1075 / 1076 / 1078: Sensor Calibration  Incomplete.......................... ............................. 4F-46
DTC C1090: Invalid  Communication with 
ECM ................................................................ 4F-47
DTC C1091 / C1094: ECM Data in CAN Line  Failure / Invalid Torque Control 
Communication with ECM .. ............................. 4F-48
DTC U1073: Control Module Communication  Bus Off ............................................................ 4F-49
DTC U1100: Lost Communication with ECM  (Reception Error)............................................. 4F-50
DTC U1126: Lost Communication with  Steering Angle Sensor (Reception Error)........ 4F-51
DTC U1140: Lost Communication with BCM  (Reception Error)............................................. 4F-52
Repair Instructions ........... ................................. 4F-54
ESP®  Hydraulic Unit Operation Check ............. 4F-54
Sensor Calibration............................................. 4F-54
ESP®  Hydraulic Unit / Control Module 
Assembly On-Vehicle Inspection .................... 4F-55
ESP ® Hydraulic 
 Unit / Control Module 
Assembly Removal and Inst allation ................ 4F-56
Front / Rear Wheel Speed Sensor On-Vehicle  Inspection ........................................................ 4F-57
Front Wheel Speed Sensor Removal and  Installation ....................................................... 4F-58
Front Wheel Speed Sensor  Inspection ............. 4F-59
Rear Wheel Speed Sensor Removal and  Installation ....................................................... 4F-59
Rear Wheel Speed Sensor  Inspection .............. 4F-60
Front Wheel Encode r On-Vehicle Inspection .... 4F-61
Front Wheel Encoder Removal and  Installation ....................................................... 4F-61
Rear Wheel Encoder On-Veh icle Inspection..... 4F-61
Rear Wheel Encoder Removal and  Installation ....................................................... 4F-61
Master Cylinder Pressure  Sensor On-Vehicle 
Inspection ........................................................ 4F-61
Yaw Rate / G Sensor Assembly On-Vehicle  Inspection ........................................................ 4F-62
Yaw Rate / G Sensor Assembly Removal and  Installation ....................................................... 4F-63
Yaw Rate / G Sensor Inspection ....................... 4F-64
Steering Angle Sensor On-Vehicle Inspection .. 4F-64
Steering Angle Sensor Removal and  Installation ....................................................... 4F-65
Steering Angle Sensor Inspection ..................... 4F-65
ESP®  OFF Switch Removal an d Installation .... 4F-65
ESP®  OFF Switch Inspection ........................... 4F-65
Specifications .................... ................................. 4F-66
Tightening Torque Specifications ...................... 4F-66
Special Tools and Equipmen t ........................... 4F-66
Special Tool ...................................................... 4F-66  

Downloaded from www.Manualslib.com manuals search engine 4A-4 Brake Control System and Diagnosis: 
Rear Brake Hose / Pipe ConstructionS7RS0B4101003
Diagnostic Information and Procedures
Brakes Diagnosis NoteS7RS0B4104001
Road Testing Brakes
Brakes should be tested on dry, clean, smooth and 
reasonably level roadway which is not crowned. Road 
test brakes by making brake applications with both light 
and heavy pedal forces at vari ous speeds to determine if 
the vehicle stops evenly and effectively. Also drive 
vehicle to see if it leads to one side or the other without 
brake application. If it does,  check the tire pressure, front 
wheel alignment and front suspension attachments for 
looseness. See diagnosis  table for other causes. Brake Fluid Leaks
Check the master cylinder fl
uid levels. While a slight 
drop in reservoir level does  result from normal lining 
wear, an abnormally low leve l indicates a leak in the 
system. In such a case, chec k the entire brake system 
for leakage. If even a slight ev idence of leakage is noted, 
the cause should be corrected or defective parts should 
be replaced.
Substandard or Contaminated Brake Fluid
Improper brake fluid, mineral oil or water in the fluid may 
cause the brake fluid to boil or the rubber components in 
the hydraulic system to deteriorate.
[A]: ABS model 6. Master cylinder13. ESP® hydraulic unit
[B]: ESP ® model 7. From hydraulic unit to 4-way joint right : 11 N⋅m (11.0 kgf-m, 8.0 lb-ft)
1. From master cylinder primary to hydraulic unit 8. From hydraulic unit to 4-way joint left: 15 N⋅m (1.5 kgf-m, 11.0 lb-ft)
2. From master cylinder secondary to hydraulic unit 9. 4-way joint: 16 N⋅m (1.6 kgf-m, 11.5 lb-ft)
3. From hydraulic unit to right front brake  10.4-way joint to left rear brake hose : 19 N⋅m (1.9 kgf-m, 14.0 lb-ft)
4. From hydraulic unit to left front brake 11. 4-way joint to right rear brake hose
5. ABS hydraulic unit 12. Master cylinder fixing nut
I6RS0C410003-01
A: View A4. Right rear brake hose8. Flexible hose joint bolt
1. To left rear brake hose 5. Left rear brake hose to left brake9. Caliper
2. To right rear brake hose 6. Right rear brake hose to right brake: 16 N⋅m (1.6 kgf-m, 12.0 lb-ft)
3. Left rear brake hose 7. Brake flexible hose: 23 N⋅m (2.3 kgf-m, 17.0 lb-ft)  

Downloaded from www.Manualslib.com manuals search engine Brake Control System and Diagnosis:  4A-5
If deterioration of rubber is evident, disassemble all 
hydraulic parts and wash with alcohol. Dry these parts 
with compressed air before assembly to keep alcohol out 
of the system. Replace all rubber parts in the system, 
including hoses. Also, when working on the brake 
mechanisms, check for fluid on the linings. 
If excessive fluid is found, replace the pads. If master cylinder piston seals 
are satisfactory, check for 
leakage or excessive heat co nditions. If leakage is not 
found, drain fluid, flush with  brake fluid, refill and bleed 
system.
The system must be flushed if there is any doubt as to 
the grade of fluid in the system or if fluid has been used 
which contained parts that have been subjected to 
contaminated fluid.
Brakes Symptom DiagnosisS7RS0B4104002
Condition Possible cause Correction / Reference Item
Not enough braking force Brake oil leakage from brake lines Locate leaking point and repair.
Brake disc or brake pad stained with oil Clean or replace.
Overheated brakes Determine cause and repair.
Badly worn brake pad Replace.
Malfunctioning caliper assembly Repair or replace.
Malfunctioning brake booster Check system and replace assembly.
Malfunctioning brake master cylinder Check system and replace as necessary.
Air in system Bleed system.
Malfunctioning ABS (ESP ®). Check system and replace as necessary.
Brake pull (Brakes not 
working in unison) Brake pad and disc are wet with water or 
stained with oil in some brakes Clean or replace.
Disc is out of round in some brakes Replace.
Tires are inflated unequally Inflate equally.
Disturbed front wheel alignment Adjust as prescribed.
Unmatched tires on same axle Tires with approximately the same amount of 
tread should be used on the same axle.
Restricted brake pipes or hoses Check for soft hoses and damaged lines. 
Replace with new hoses and new double-
walled steel brake tubing.
Malfunctioning caliper assembly Caliper should slide.
Check for stuck or sluggish pistons and proper 
lubrication of caliper slide pin.
Loose suspension parts Check all suspension mountings.
Loose calipers Check and torque bolts to specifications.
Noise (High pitched 
squeak without brake 
applied) Contact wear indicator to brake disc
Replace brake pads.
Worn brake pad Replace brake pads.
Excessive pedal travel 
(Pedal stroke too large) Partial brake system failure
Check brake systems and repair as necessary.
Brake fluid leaking Repair the leaking point and bleed air.
Air in system (soft / spongy pedal) Bleed system.
Brake locked Malfunctioning ABS (ESP®) Check system referri ng to “ABS Check in 
Section 4E” or “Electronic Stability Program 
System Check in Section 4F”.
Dragging brakes (A very 
light drag is present in all 
brakes immediately after 
pedal is released.) Master cylinder pistons not returning 
correctly
Replace master cylinder.
Restricted brake pipes or hoses Check for soft hoses or damaged pipes and 
replace with new hoses and/or new brake 
piping.
Incorrect parking brake adjustment on 
rear brakes Check and adjust to correct specifications.
Weakened or broken return springs in 
rear brakes. Replace.
Sluggish parking brake cables or linkage Repair or replace.
Brake caliper piston sticking Repair as necessary.
Badly worn piston seal in caliper Replace piston seal.
Improper brake pedal free height Check brake pedal free height.  

Downloaded from www.Manualslib.com manuals search engine 4A-6 Brake Control System and Diagnosis: 
Pedal pulsation (Pedal 
pulsates when depressed 
for braking)Damaged or loose wheel bearings
Replace wheel bearings.
Distorted steering knuckle or rear wheel 
spindle Replace knuckle or rear wheel spindle.
Excessive disc lateral runout Check per instructions. If not within 
specifications, replace or machine disc.
Parallelism between brake pad and disc 
not within specifications Check per instructions. If not within 
specifications, replace or machine disc.
Brake caliper piston sticking Repair as necessary.
Braking noise Worn or distorted brake pad Replace pads.
Loose front wheel bearings Replace wheel bearings.
Distorted backing plates or loose 
mounting bolts Replace or retighten securing bolts.
Contact wear indicator to brake disc Replace brake pad.
Brake warning light lights 
after engine start Parking brake applied
Release parking brake and check that brake 
warning light turns off.
Insufficient amount of brake fluid Investigate leaky point, correct it and add 
brake fluid.
Brake fluid leaking Investigate leaky point, correct it and add 
brake fluid.
Brake warning light circuit faulty Repair circuit.
Malfunctioning EBD system Check system referring to “EBD Warning Light 
(Brake Warning Light) Comes ON Steady in 
Section 4E”.
Brake warning light turns 
on when brake is applied Brake fluid leaking
Investigate leaky point, correct it and add 
brake fluid.
Insufficient amount of brake fluid Investigate leaky point, correct it and add 
brake fluid.
Brake warning light fails 
to turn on even when 
parking brake is applied Brake warning light circuit faulty
Replace bulb or repair circuit.
ABS warning light or 
ESP
® warning light turns 
on after engine start Malfunctioning ABS (ESP
®) Check system referri ng to “ABS Check in 
Section 4E” or “Electronic Stability Program 
System Check in Section 4F”.
ABS warning light or 
ESP
® warning light turns 
on when brake is applied Malfunctioning ABS (ESP
®) Check system referri ng to “ABS Check in 
Section 4E” or “Electronic Stability Program 
System Check in Section 4F”.
ABS warning light or 
ESP
® warning light does 
not turn on for 2 sec. after 
ignition switch has turned 
ON Bulb burnt out
Replace bulb.
Malfunctioning ABS (ESP ®) Check system referri ng to “ABS Check in 
Section 4E” or “Electronic Stability Program 
System Check in Section 4F”.
ABS warning light flashes New ABS hydraulic unit / control module 
assembly installed. Perform “ABS Hydraulic 
Unit Operation Check 
in Section 4E”.
Condition Possible cause Correction / Reference Item  

Downloaded from www.Manualslib.com manuals search engine 4A-8 Brake Control System and Diagnosis: 
Excessive Pedal Travel InspectionS7RS0B4106003
1) Start engine.
2) Depress brake pedal a few times.
3) With brake pedal depressed with approximately 300 N (30 kg, 66 lbs) load, measure brake pedal to wall 
(dash panel silencer) clearance “a”. If clearance “a” 
is less than specification, the most possible cause is 
air in lines. Should clearance “a” remain less than 
specification even after bleeding of system, other 
possible infrequent cause is booster push rod length 
out of adjustment.
• Bleed brake system. Refer to “Air Bleeding of Brake System”.
Brake arm pedal to wall clearance “a”
When pedal depressed at 300 N (30 kg, 66 lbs): 
over 75 mm (2.95 in.)
Brake Fluid Level InspectionS7RS0B4106004
1) Check master cylinder, reservoir and reservoir hose  (if equipped) for crack, damage and brake fluid 
leakage. If any faulty condition exists, correct or 
replace.
2) Check that brake fluid level is between MAX and  MIN marks on reservoir.
NOTE
Be sure to use particular brake fluid either as 
indicated on reservoir cap of that vehicle or 
recommended in owner’s manual which 
comes along with that vehicle. Use of any 
other fluid is strictly prohibited.
Fluid level should be between MIN and MAX 
lines marked on reservoir.
When brake warning lamp lights sometimes 
during driving, replenis h fluid to MAX level.
When fluid decreases quickly, inspect brake 
system for leakage. Correct leaky points and 
then refill to specified level.
 
CAUTION! 
Do not use shock absorber fluid or any other 
fluid which contains mineral oil. Do not use a 
container which has been used for mineral oil 
or a container which is wet from water. 
Mineral oil will cause swelling and distortion 
of rubber parts in hydraulic brake system and 
water mixed into brake fluid will lower fluid 
boiling point. Keep all fluid containers 
capped to prevent contamination.
 
Stop Light Switch AdjustmentS7RS0B4106005
Adjustment should be made as follows. Pull up brake 
pedal toward you and while holding it there, adjust 
switch position so that clea rance between end of thread 
and brake pedal is as specified. Then lock it by turning 
clockwise.
Clearance between brake pedal and stop light switch
“a”: 1.2 – 2.2 mm (0.05 – 0.08 in.)
I6RS0C410005-02
I4RS0B410006-01
I4RS0A410007-01