BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): C050C1C,C05121C; Left Rear Wheel Speed Sensor Circuit Voltage Out of Range; 2021 - 2024 MY RAV4 RAV4 HV [08/2020

Last Modified: 01-30-2024	6.11:8.1.0	Doc ID: RM100000001S1UE
Model Year Start: 2021	Model: RAV4	Prod Date Range: [08/2020 - ]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): C050C1C,C05121C; Left Rear Wheel Speed Sensor Circuit Voltage Out of Range; 2021 - 2024 MY RAV4 RAV4 HV [08/2020 - ]

DTC

C050C1C

Left Rear Wheel Speed Sensor Circuit Voltage Out of Range

DTC

C05121C

Right Rear Wheel Speed Sensor Circuit Voltage Out of Range

DESCRIPTION

Refer to DTC C050C12

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DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C050C1C	Left Rear Wheel Speed Sensor Circuit Voltage Out of Range	When the vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is less than 100 km/h (62 mph), one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more2 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is 100 km/h (62 mph) or more, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph).	Rear speed sensor LH (rear axle hub and bearing assembly LH)3 Rear speed sensor LH4 Speed sensor installation*4 Rear speed sensor rotor LH (rear axle hub and bearing assembly LH) Speed sensor installation Tire wear Tire pressure Tire and wheel size
C05121C	Right Rear Wheel Speed Sensor Circuit Voltage Out of Range	When the vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is less than 100 km/h (62 mph), one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more2 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is 100 km/h (62 mph) or more, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph).	Rear speed sensor RH (rear axle hub and bearing assembly RH)3 Rear speed sensor RH4 Speed sensor installation*4 Rear speed sensor rotor RH (rear axle hub and bearing assembly RH) Speed sensor installation Tire wear Tire pressure Tire and wheel size

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

*3: for 2WD

*4: for AWD

DTC Detection Conditions: C050C1C

		Vehicle Condition
		Pattern 1	Pattern 2	Pattern 3	Pattern 4	Pattern 5	Pattern 6
Diagnosis Condition	The vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking.	○	○	○	-	-	-
Diagnosis Condition	The vehicle speed is less than 100 km/h (62 mph).	-	-	-	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	-	-	-	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the value of the wheel speed is continuously the slowest.	-	-	-	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the wheel speed is less than 5 km/h (3 mph).	-	-	-	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip	1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C050C1C

		Vehicle Condition
		Pattern 7	Pattern 8	Pattern 9
Diagnosis Condition	The vehicle speed is 100 km/h (62 mph) or more.	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C05121C

		Vehicle Condition
		Pattern 1	Pattern 2	Pattern 3	Pattern 4	Pattern 5	Pattern 6
Diagnosis Condition	The vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking.	○	○	○	-	-	-
Diagnosis Condition	The vehicle speed is less than 100 km/h (62 mph).	-	-	-	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	-	-	-	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the value of the wheel speed is continuously the slowest.	-	-	-	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the wheel speed is less than 5 km/h (3 mph).	-	-	-	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip	1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

DTC Detection Conditions: C05121C

		Vehicle Condition
		Pattern 7	Pattern 8	Pattern 9
Diagnosis Condition	The vehicle speed is 100 km/h (62 mph) or more.	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

HINT:

DTC will be output when conditions for either of the patterns in the table above are met.

CAUTION / NOTICE / HINT

NOTICE:

After replacing or removing and installing a speed sensor, perform Dealer Mode (Signal Check) inspection to confirm that the speed sensors are operating correctly.
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After replacing or removing and installing a speed sensor rotor, perform Dealer Mode (Signal Check) inspection to confirm that the speed sensors are operating correctly.
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DTC precaution

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Procedure to Clear Warning Lights (When not Clearing DTCs)

Procedure
Repair or replacement. Turn the ignition switch to ON. Drive the vehicle at 11 km/h (7 mph) or more for 1 second or more to clear the warning lights.

PROCEDURE

PRE-CHECK

(a) Check that all 4 tires are of correct size, are inflated to the correct pressure, and do not show excessive signs of wear.

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HINT:

If a tire is deformed or an incorrectly sized tire or wheel is installed, this DTC may be stored.

2.	CHECK FREEZE FRAME DATA (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Select a DTC to display the Freeze Frame Data.

(e) Read the freeze frame data of DTC C050C1C or C05121C.

Chassis > Brake/EPB

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > DTC(C050C1C) > Freeze Frame Data

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

Chassis > Brake/EPB > DTC(C05121C) > Freeze Frame Data

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

Result	Proceed to
The value of RL Wheel Speed is more than all other values.	A
The value of RR Wheel Speed is more than all other values.	A
The value of RL Wheel Speed is less than all other values.	B
The value of RR Wheel Speed is less than all other values.	B
The value of RL Wheel Speed is less than 5 km/h (3 mph).	C
The value of RR Wheel Speed is less than 5 km/h (3 mph).	C

GO TO STEP 4

GO TO STEP 7

3.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The difference between the value of RL Wheel Speed or RR Wheel Speed and all other values is less than 6%.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as wheelspin.

USE SIMULATION METHOD TO CHECK

REPLACE REAR AXLE HUB AND BEARING ASSEMBLY

4.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The difference between the value of RL Wheel Speed or RR Wheel Speed and all other values is less than 6%.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as brake drag.

USE SIMULATION METHOD TO CHECK

NG (for 2WD)

REPLACE REAR AXLE HUB AND BEARING ASSEMBLY

NG (for AWD)

5.	CHECK REAR SPEED SENSOR INSTALLATION

(a) Check the rear speed sensor installation.

OK:

There is no clearance between the rear speed sensor and the rear axle carrier.

The installation bolt is tightened properly.

*1	Rear Speed Sensor
*a	Correct
*b	Incorrect
*c	No clearance

REINSTALL OR REPLACE REAR SPEED SENSOR

6.	CHECK REAR SPEED SENSOR ROTOR (CHECK FOR FOREIGN MATTER)

(a) Remove the component with the rear speed sensor rotor.

Click here

(b) Check the rear speed sensor rotor.

OK:

The rear speed sensor rotor is free of scratches, oil, and foreign matter.

NOTICE:

If there is oil or foreign matter on the rear speed sensor rotor, clean the rear speed sensor rotor.
Do not use parts cleaner when cleaning the rear speed sensor rotor.
If the rear speed sensor rotor is damaged, replace the rear axle hub and bearing assembly with a new one.

Result	Proceed to
OK	A
NG (The rear speed sensor rotor is damaged.)	B
NG (There is foreign matter on the rear speed sensor rotor.)	C

REPLACE REAR SPEED SENSOR

REPLACE REAR AXLE HUB AND BEARING ASSEMBLY

CLEAN REAR SPEED SENSOR ROTOR

7.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

RR Wheel Speed

Rear wheel speed sensor RH reading

Min.: 0.0 km/h (0 mph)

Max.: 6553.5 km/h (4072 mph)

Vehicle stopped: 0.0 km/h (0.0 mph)

When driving at constant speed: No large fluctuations

RL Wheel Speed

Rear wheel speed sensor LH reading

Min.: 0.0 km/h (0 mph)

Max.: 6553.5 km/h (4072 mph)

Vehicle stopped: 0.0 km/h (0.0 mph)

When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
RR Wheel Speed
RL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The value of Wheel Speed is 5 km/h (3 mph) or more.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as wheelspin, brake drag or wheel lockup.

When a DTC is stored during operation of ABS or TRC (TRAC), the system also stores vehicle control history that can be guessed the vehicle conditions.

Click here

USE SIMULATION METHOD TO CHECK

NG (for 2WD)

REPLACE REAR AXLE HUB AND BEARING ASSEMBLY

NG (for AWD)

8.	CHECK REAR SPEED SENSOR INSTALLATION

(a) Check the rear speed sensor installation.

OK:

There is no clearance between the rear speed sensor and the rear axle carrier.

The installation bolt is tightened properly.

*1	Rear Speed Sensor
*a	Correct
*b	Incorrect
*c	No clearance

REPLACE REAR SPEED SENSOR

REINSTALL OR REPLACE REAR SPEED SENSOR