Page 2545 of 3000
BRAKE CONTROL – BRAKE ACTUATOR (w/ VSC)BC–179
BC
4. INSPECT OTHER WHEEL OPERATION
(a) Using the same procedure, check the solenoids of
the other wheels.
HINT:
Left front wheel:
SFLH, SFLR
Right rear wheel:
SRRH, SRRR
Left rear wheel:
SRLH, SRLR
Page 2546 of 3000
BC–180BRAKE CONTROL – BRAKE ACTUATOR (w/ VSC)
BC
REMOVAL
1. DRAIN BRAKE FLUID
NOTICE:
Wash brake fluid off immediately if it adheres to any
painted surface.
2. DISCONNECT BATTERY NEGATIVE TERMINAL
3. REMOVE AIR CLEANER ASSEMBLY WITH HOSE
4. REMOVE BRAKE ACTUATOR WITH BRACKET
(a) Release the latch of the brake actuator connector to
disconnect the connector.
(b) Using SST, disconnect the 6 brake tubes from the
actuator with bracket.
SST 09023-00101
(c) Use tags or make a memo to identify the places to
reconnect.
(d) Remove the 3 bolts and the actuator with bracket.
NOTICE:
Be careful not to damage the brake tubes and
wire harness.
5. REMOVE BRAKE ACTUATOR
(a) Remove the 2 nuts and the brake actuator assembly
from the brake actuator bracket.
G024309
F045511E01
G024308
Page 2547 of 3000

BRAKE CONTROL – BRAKE ACTUATOR (w/ VSC)BC–181
BC
INSTALLATION
1. INSTALL BRAKE ACTUATOR
NOTICE:
Do not remove the hole plugs before connecting the
brake tubes. New actuators are filled with brake
fluid.
(a) Install the brake actuator assembly with the 2 nuts.
Torque: 5.4 N*m (55 kgf*cm, 48 in.*lbf)
2. INSTALL BRAKE ACTUATOR WITH BRACKET
(a) Install the actuator with bracket with the 3 bolts.
Torque: 20 N*m (199 kgf*cm, 14 ft.*lbf)
NOTICE:
Be careful not to damage the brake tubes and
wire harness.
(b) Using SST, connect each brake tube to correct
positions of the actuator with bracket, as shown in
the illustration.
Torque: 15 N*m (155 kgf*cm, 11 ft.*lbf)
(c) Connect the brake actuator connector.
3. INSTALL AIR CLEANER ASSEMBLY WITH HOSE
4. FILL RESERVOIR WITH BRAKE FLUID (See page BR-
3)
5. BLEED BRAKE MASTER CYLINDER SUB-
ASSEMBLY (See page BR-3)
6. BLEED BRAKE LINE (See page BR-4)
7. BLEED BRAKE ACTUATOR (See page BR-4)
8. CHECK BRAKE FLUID LEAKAGE
9. CHECK FLUID LEVEL IN RESERVOIR (See page BR-
7)
10. CONNECT BATTERY NEGATIVE TERMINAL
11. PERFORM INITIALIZATION
12. PERFORM YAW RATE SENSOR ZERO POINT
CALIBRATION
HINT:
See page BC-70.
13. CHECK BRAKE ACTUATOR WITH INTELLIGENT
TESTER
HINT:
See page BC-178.
G024308
F045511E01
Page 2548 of 3000

BRAKE CONTROL – ANTI-LOCK BRAKE SYSTEMBC–19
BC
DESCRIPTION
The speed sensor detects wheel speed and transmits the appropriate signals to the ECU. These signals
are used for control of the ABS control system. The front and rear rotors have 48 serrations each.
When the rotors rotate, the magnetic field generated by the permanent magnet in the speed sensor
induces an AC voltage.
Since the frequency of this AC voltage changes in direct proportion to the speed of the rotor, the
frequency is used by the ECU to detect the speed of each wheel.
DTCs C1271/71 to C1276/76 can be deleted when the speed sensor sends a vehicle speed signal or the
Test Mode ends. DTCs C1271/71 to C1276/76 are output only in the Test Mode.
DTC C0200/31 Front Speed Sensor RH Circuit
DTC C0205/32 Front Speed Sensor LH Circuit
DTC C1235/35Foreign Object is Attached on Tip of Front
Speed Sensor RH
DTC C1236/36Foreign Object is Attached on Tip of Front
Speed Sensor LH
DTC C1271/71Low Output Signal of Front Speed Sensor RH
(Test Mode DTC)
DTC C1272/72Low Output Signal of Front Speed Sensor LH
(Test Mode DTC)
DTC C1275/75Abnormal Change in Output Signal of Front
Speed Sensor RH (Test Mode DTC)
DTC C1276/76Abnormal Change in Output Signal of Front
Speed Sensor LH (Test Mode DTC)
F000010E04
Page 2549 of 3000

BC–20BRAKE CONTROL – ANTI-LOCK BRAKE SYSTEM
BC
HINT:
• DTC No. C0200/31 and C1235/35 are for the front speed sensor RH.
• DTC No. C0205/32 and C1236/36 are for the front speed sensor LH.
WIRING DIAGRAM
INSPECTION PROCEDURE
HINT:
Start the inspection from step 1 when using the intelligent tester and start from step 2 when not using the
intelligent tester.
(a) Select the DATA LIST mode on the intelligent tester.
ABS:
DTC No. DTC Detection Condition Trouble Area
C0200/31
C0205/32With vehicle speed at 10 km/h (6 mph) or more, sensor
signal circuit of faulty wheel is open or short for 1
second or more.
• Momentary interruption of sensor signal of faulty
wheel has occurred 7 times or more.
• Sensor signal circuit is open for 0.5 seconds or
more.• Front speed sensor RH/LH
• Front speed sensor RH/LH circuit
• Speed sensor rotor
• Sensor installation
• Brake actuator assembly
C1235/35
C1236/36At vehicle speed of 20 km/h (12 mph) or more,
condition that noise is included in speed sensor signal
continues for 5 seconds or more.• Front speed sensor RH/LH
• Speed sensor rotor
• Sensor installation
• Brake actuator assembly
1READ VALUE OF INTELLIGENT TESTER (FRONT SPEED SENSOR)
F040884E10
Item (Display)Measurement Item / Range
(Display)Normal Condition Diagnostic Note
WHEEL SPD FRWheel speed sensor (FR)
reading / min.: 0 km/h (0 mph),
max.: 326 km/h(202 mph)Actual wheel speedSimilar speed as indicated on
speedometer
Page 2550 of 3000

BRAKE CONTROL – ANTI-LOCK BRAKE SYSTEMBC–21
BC
(b) Check that there is the speed value output from the
speed sensor displayed on the intelligent tester and the
speed value displayed on the speedometer are almost
the same when driving the vehicle.
OK:
The speed value output from the speed sensor
displayed on the intelligent tester is the same as
the actual vehicle speed.
NG
OK
(a) Clear the DTC (See page BC-10).
(b) Perform sensor signal check in TEST MODE
PROCEDURE (See page BC-3).
OK:
All Test Mode DTCs are erased.
OK
NG
(a) Turn the ignition switch off.
(b) Check the speed sensor installation.
OK:
The installation bolt is tightened properly.
There is no clearance between the sensor and the
front steering knuckle.
To r q u e :
8.0 N*m (82 kgf*cm, 71 in.*lbf)
NOTICE:
Check the speed sensor signal after replacement
(See page BC-3).
NG
OK
(a) Remove the front speed sensor (See page BC-187).
(b) Check the sensor tip.
WHEEL SPD FLWheel speed sensor (FL) reading
/ min.: 0 km/h (0 mph), max.: 326
km/h(202 mph)Actual wheel speedSimilar speed as indicated on
speedometer Item (Display)Measurement Item / Range
(Display)Normal Condition Diagnostic Note
Go to step 3
2PERFORM TEST MODE INSPECTION (SIGNAL CHECK)
Go to step 8
3INSPECT FRONT SPEED SENSOR INSTALLATION
BR03795E21
INSTALL FRONT SPEED SENSOR
CORRECTLY
4INSPECT SPEED SENSOR TIP
Page 2551 of 3000
BC–22BRAKE CONTROL – ANTI-LOCK BRAKE SYSTEM
BC
OK:
No scratches or foreign matter on the sensor tip.
NOTICE:
Check the speed sensor signal after cleaning or
replacement (See page BC-3).
NG
OK
(a) Install the front speed sensor.
(b) Disconnect the front speed sensor connector.
(c) Measure the resistance according to the value(s) in the
table below.
Standard resistance:
RH
LH
NOTICE:
Check the speed sensor signal after replacement
(See page BC-3).
NG
OKREPLACE DRIVE SHAFT ASSEMBLY
5INSPECT FRONT SPEED SENSOR
C093876
Tester Connection Specified Condition
A4-1 (FR+) - A4-2 (FR-) 1.6+-0.2 k
at 20C
A4-1 (FR+) - Body ground 10 k
or higher
A4-2 (FR-) - Body ground 10 k
or higher
Tester Connection Specified Condition
A3-1 (FL+) - A3-2 (FL-) 1.6+-0.2 k
at 20C
A3-1 (FL+) - Body ground 10 k
or higher
A3-2 (FL-) - Body ground 10 k
or higher
REPLACE FRONT SPEED SENSOR
Page 2552 of 3000

BRAKE CONTROL – ANTI-LOCK BRAKE SYSTEMBC–23
BC
(a) Disconnect the skid control sensor wire.
(b) Measure the resistance according to the value(s) in the
table below.
Standard resistance
RH:
LH:
NG
OK
(a) Connect the oscilloscope to terminals FR+ - FR- or FL+ -
FL- of the skid control ECU.
(b) Drive the vehicle at about 30 km/h(19 mph), and check
the signal waveform.
OK:
A waveform as shown in the figure should be
output.
HINT:
• As vehicle speed (wheel rotation speed) increases,
the width of the waveform narrows and the fluctuation
in the output voltage becomes greater.
• When noise is identified in the waveform on the
oscilloscope, error signals are generated due to rotor
scratches, looseness or foreign matter attached to the
speed sensor.
NG
6CHECK HARNESS AND CONNECTOR (BETWEEN SKID CONTROL ECU AND FRONT
SPEED SENSOR)
C161174E02
Tester Connection Specified Condition
S3-27 (FR+) - A4-1 (FR+) Below 1
S3-27 (FR+) - Body ground 10 k or higher
S3-28 (FR-) - A4-2 (FR-) Below 1
S3-28 (FR-) - Body ground 10 k or higher
Tester Connection Specified Condition
S3-13 (FL+) - A3-1 (FL+) Below 1
S3-13 (FL+) - Body ground 10 k or higher
S3-26 (FL-) - A3-2 (FL-) Below 1
S3-26 (FL-) - Body ground 10 k or higher
REPAIR OR REPLACE HARNESS OR
CONNECTOR
7INSPECT SPEED SENSOR AND SENSOR ROTOR SERRATIONS
W004200E03
Go to step 9