| Last Modified: 01-30-2024 | 6.11:8.1.0 | Doc ID: RM10000000214OT |
| Model Year Start: 2022 | Model: RAV4 | Prod Date Range: [12/2021 - ] |
| Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): C00632A,C05201C,C05202A,C052096; Yaw Rate Sensor Signal Stuck In Range; 2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ] | ||
|
DTC |
C00632A |
Yaw Rate Sensor Signal Stuck In Range |
|
DTC |
C05201C |
Multi-axis Acceleration Sensor Module "A" Circuit Voltage Out of Range |
|
DTC |
C05202A |
Multi-axis Acceleration Sensor Module "A" Signal Stuck In Range |
|
DTC |
C052096 |
Multi-axis Acceleration Sensor Module "A" Component Internal Failure |
DESCRIPTION
The yaw rate and acceleration sensor has a built-in airbag ECU assembly.
These DTCs are stored when the No. 2 skid control ECU (brake actuator assembly) receives an internal malfunction signal from the yaw rate and acceleration sensor (airbag ECU assembly).
The No. 2 skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag ECU assembly) via CAN communication.
HINT:
If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag ECU assembly) and the CAN communication system, DTC U012587 is output. When DTC U012587 is output together with C00632A, C05201C, C05202A and/or C052096, inspect and repair the trouble areas indicated by U012587 first.
DTCs may be stored if either of the following occurs:
- Yaw rate and acceleration sensor (airbag ECU assembly) installation abnormality.
- Yaw rate and acceleration sensor (airbag ECU assembly) signal malfunction.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
MIL |
Note |
|---|---|---|---|---|---|
|
C00632A |
Yaw Rate Sensor Signal Stuck In Range |
A yaw rate sensor stuck malfunction status continues. |
|
Does not come on |
Output ECU: No. 2 skid control ECU (brake actuator assembly) |
|
C05201C |
Multi-axis Acceleration Sensor Module "A" Circuit Voltage Out of Range |
At a vehicle speed of 30 km/h (19 mph) or more, the difference between the forward and backward G calculated from the acceleration sensor value and that calculated from the vehicle speed sensor exceeds 0.35 G for 60 seconds or more. |
|
Comes on |
|
|
C05202A |
Multi-axis Acceleration Sensor Module "A" Signal Stuck In Range |
Any of the following is detected:
|
|
Comes on |
|
|
C052096 |
Multi-axis Acceleration Sensor Module "A" Component Internal Failure |
Either of the following is detected:
|
|
Comes on |
|
C05202A DTC Detection Conditions
|
Vehicle Condition |
||||
|---|---|---|---|---|
|
Pattern 1 |
Pattern 2 |
Pattern 3 |
||
|
Diagnosis Condition |
- |
- |
- |
- |
|
Malfunction Status |
The acceleration sensor output value does not change 16 times or more as the vehicle speed drops from 30 km/h (19 mph) to 0 km/h (0 mph) |
○ |
- |
- |
|
A GL1 stuck malfunction status continues |
- |
○ |
- |
|
|
A GL2 stuck malfunction status continues |
- |
- |
○ |
|
|
Detection Time |
- |
- |
- |
|
|
Number of Trips |
1 trip |
1 trip |
1 trip |
|
HINT:
DTC will be output when conditions for either of the patterns in the table above are met.
C052096 DTC Detection Conditions
|
Vehicle Condition |
|||
|---|---|---|---|
|
Pattern 1 |
Pattern 2 |
||
|
Diagnosis Condition |
- |
- |
- |
|
Malfunction Status |
A signal indicating an acceleration sensor internal malfunction is received |
○ |
- |
|
Output values of GL1 and GL2 (front and rear, left and right) are outside permitted output range |
- |
○ |
|
|
Detection Time |
- |
60 seconds or more. |
|
|
Number of Trips |
1 trip |
1 trip |
|
HINT:
DTC will be output when conditions for either of the patterns in the table above are met.
MONITOR DESCRIPTION
C051C (Case 1):
- When the vehicle stops after being driven and the output value of the yaw rate and acceleration sensor (airbag ECU assembly) does not change, the No. 2 skid control ECU (brake actuator assembly) judges that the yaw rate and acceleration sensor (airbag ECU assembly) is stuck, and illuminates the MIL and stores this DTC.
C051C (Case 2):
- When the yaw rate and acceleration sensor (airbag ECU assembly) is stuck for a certain amount of time, the No. 2 skid control ECU (brake actuator assembly) judges that the yaw rate and acceleration sensor (airbag ECU assembly) is stuck, and illuminates the MIL and stores this DTC.
C051C (Case 3):
- When at a certain vehicle speed or more, the difference between the longitudinal acceleration value output by the yaw rate and acceleration sensor (airbag ECU assembly) and the value calculated based on the vehicle speed differs by a certain value or more for a certain amount of time, the No. 2 skid control ECU (brake actuator assembly) judges that the yaw rate and acceleration sensor (airbag ECU assembly) is abnormal, and illuminates the MIL and stores this DTC.
C0520 (Case 1):
- When the yaw rate and acceleration sensor (airbag ECU assembly) output values for the longitudinal and lateral axes are outside of the possible output range for a certain amount of time, the No. 2 skid control ECU (brake actuator assembly) judges that the yaw rate and acceleration sensor (airbag ECU assembly) is outside of the possible output range, and illuminates the MIL and stores this DTC.
C0520 (Case 2):
- When a signal indicating that the yaw rate and acceleration sensor (airbag ECU assembly) has detected an internal malfunction during self-diagnosis is received, the No. 2 skid control ECU (brake actuator assembly) judges that the yaw rate and acceleration sensor (airbag ECU assembly) has an internal malfunction, and illuminates the MIL and stores this DTC.
MONITOR STRATEGY
|
Related DTCs |
C051C: Acceleration sensor range/performance C0520 (Case 1): Acceleration sensor (GL1, GL2) out of range C0520 (Case 2): Acceleration sensor internal malfunction |
|
Required Sensors/Components(Main) |
Yaw rate and acceleration sensor (airbag ECU assembly) Speed sensor |
|
Required Sensors/Components(Related) |
Speed sensor No. 2 skid control ECU (brake actuator assembly) |
|
Frequency of Operation |
Continuous |
|
Duration |
16 times: C051C (Case 1) -: C051C (Case 2) and C0520 (Case 2) 60 seconds: C051C (Case 3) and C0520 (Case 1) |
|
MIL Operation |
Immediately |
|
Sequence of Operation |
None |
TYPICAL ENABLING CONDITIONS
C051C (Case 1)
|
Monitor runs whenever the following DTCs are not stored |
C051C (Case 3): Acceleration sensor range/performance C051E: Acceleration sensor intermittent/erratic C0520 (Case 2): Acceleration sensor internal malfunction C1241: Brake system voltage input out of range low U0125: Lost communication with multi-axis acceleration sensor module |
|
All of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
Under an acceleration slip |
Off |
|
IG1 |
On |
|
Communication status with yaw rate and acceleration sensor (airbag ECU assembly) |
Valid |
C051C (Case 2)
|
Monitor runs whenever the following DTCs are not stored |
C1241: Brake system voltage input out of range low U0125: Lost communication with multi-axis acceleration sensor module |
|
Both of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
IG1 |
On |
C051C (Case 3)
|
Monitor runs whenever the following DTCs are not stored |
C051E: Acceleration sensor intermittent/erratic C0520 (Case 1): Acceleration sensor (GL1, GL2) out of range C0520 (Case 2): Acceleration sensor internal malfunction C1241: Brake system voltage input out of range low U0125: Lost communication with multi-axis acceleration sensor module |
|
All of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
Command to all ABS hold solenoids |
Off |
|
Command to all ABS release solenoids |
Off |
|
Under an acceleration slip |
Off |
|
Vehicle speed |
30 km/h (18.64 mph) or more |
|
IG1 |
On |
|
Communication status with yaw rate and acceleration sensor (airbag ECU assembly) |
Valid |
|
GX invalidation |
Off |
C0520 (Case 1)
|
Monitor runs whenever the following DTCs are not stored |
C051C (Case 3): Acceleration sensor range/performance C051E: Acceleration sensor intermittent/erratic C0520 (Case 2): Acceleration sensor internal malfunction C1241: Brake system voltage input out of range low C14D7: Acceleration sensor voltage circuit/open U0125: Lost communication with multi-axis acceleration sensor module |
|
Chassis dynamometer mode |
Off |
C0520 (Case 2)
|
Monitor runs whenever the following DTCs are not stored |
C1241: Brake system voltage input out of range low U0125: Lost communication with multi-axis acceleration sensor module |
|
Both of the following conditions are met |
- |
|
Communication status with yaw rate and acceleration sensor (airbag ECU assembly) |
Not detected |
|
YGS1 (CAN Data) |
"0" (valid) |
TYPICAL MALFUNCTION THRESHOLDS
C051C (Case 1)
|
When the vehicle speed is decreasing from more than 30 km/h (18.65 mph) to 0 km/h (0 mph), change in the output value of the GX sensor |
Less than 0.28831551 m/s2 |
C051C (Case 2)
|
Both of the following conditions are met |
A and B |
|
A. IG1 |
On |
|
B. Either of the following conditions is met |
- |
|
GX sensor adherence presence |
On |
|
GY sensor adherence presence |
On |
C051C (Case 3)
|
Difference Gx and acceleration estimated from wheel speed |
Higher than 3.4323275 m/s2 |
C0520 (Case 1)
|
All of the following conditions are met |
A, B and C |
|
A. IG1 |
On |
|
B. Communication status with yaw rate and acceleration sensor (airbag ECU assembly) |
Valid |
|
C. Either of the following conditions is met |
- |
|
Acceleration sensor 2 axis clamp presence |
Available |
|
Acceleration sensor 1 axis clamp presence |
Available |
C0520 (Case 2)
|
Either of the following conditions is met |
- |
|
GS1S (CAN Data) |
"1" (abnormality) |
|
GS2S (CAN Data) |
"1" (abnormality) |
COMPONENT OPERATING RANGE
C051C (Case 1)
|
Both of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
Acceleration sensor output valid |
Valid |
C051C (Case 2)
|
All of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
Reset request |
On |
|
GX sensor adherence presence |
Off |
|
GY sensor adherence presence |
Off |
C051C (Case 3)
|
Both of the following conditions are met |
- |
|
Chassis dynamometer mode |
Off |
|
GX sensor output valid |
Valid |
C0520 (Case 1)
|
All of the following conditions are met |
A, B and C |
|
A. Chassis dynamometer mode |
Off |
|
B. Acceleration sensor output valid |
Valid |
|
C. Acceleration sensor 1 axis clamp presence |
Invalid |
C0520 (Case 2)
|
All of the following conditions are met |
- |
|
Communication status with yaw rate and acceleration sensor (airbag ECU assembly) |
Not detected |
|
GS1S (CAN Data) |
"0" (no abnormality) |
|
GS2S (CAN Data) |
"0" (no abnormality) |
CONFIRMATION DRIVING PATTERN
NOTICE:
When performing the normal judgment procedure, make sure that the driver door is closed and is not opened at any time during the procedure.
HINT:
- After repair has been completed, clear the DTC and then check that the vehicle has returned to normal by performing the following All Readiness check procedure.
- When clearing the permanent DTCs, refer to the "CLEAR PERMANENT DTC" procedure.
- Connect the GTS to the DLC3.
- Turn the ignition switch to ON and turn the GTS on.
- Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).
- Turn the ignition switch off.
- Turn the ignition switch to ON (READY) and turn the GTS on.
-
Drive the vehicle at a speed of 30 km/h (19 mph) or more for 60 seconds or more. [*]
HINT:
[*]: Normal judgment procedure.
The normal judgment procedure is used to complete DTC judgment and also used when clearing permanent DTCs.
- Enter the following menus: Chassis / Brake/EPB / Utility / All Readiness.
-
Check the DTC judgment result.
HINT:
- If the judgment result shows NORMAL, the system is normal.
- If the judgment result shows ABNORMAL, the system has a malfunction.
- If the judgment result shows INCOMPLETE, perform driving pattern again.
CAUTION / NOTICE / HINT
NOTICE:
After replacing or reinstalling the yaw rate and acceleration sensor (airbag ECU assembly), perform "Calibration" after performing "Reset Memory".
Click here
![2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): UTILITY](/t3Portal/stylegraphics/info.gif)
PROCEDURE
|
1. |
CHECK AIRBAG ECU ASSEMBLY |
(a) Check that the yaw rate and acceleration sensor (airbag ECU assembly) has been installed properly.
Click here
OK:
The yaw rate and acceleration sensor (airbag ECU assembly) is tightened to the specified torque.
The yaw rate and acceleration sensor (airbag ECU assembly) is not installed in a tilted position.
| OK |
|
REPLACE AIRBAG ECU ASSEMBLY
|
| NG |
|
|
|