| Last Modified: 01-30-2024 | 6.11:8.1.0 | Doc ID: RM10000000214PC |
| 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): C051D00; Multi-axis Acceleration Sensor Module "A"; 2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ] | ||
|
DTC |
C051D00 |
Multi-axis Acceleration Sensor Module "A" |
DESCRIPTION
The yaw rate and acceleration sensor has a built-in 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 C051D00, inspect and repair the trouble areas indicated by U012587 first.
This DTC is also output when the calibration has not been completed.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
MIL |
Note |
|---|---|---|---|---|---|
|
C051D00 |
Multi-axis Acceleration Sensor Module "A" |
When the vehicle speed is 40 km/h (25 mph) or more, the acceleration sensor zero point is not calibrated. |
|
Comes on |
|
MONITOR DESCRIPTION
The No. 2 skid control ECU (brake actuator assembly) monitors the acceleration sensor zero point calibration for successful completion. When the vehicle is being driven, if the acceleration sensor 1 or acceleration sensor 2 zero point range is outside the normal range, the No. 2 skid control ECU (brake actuator assembly) judges that the acceleration sensor zero point calibration is abnormal and illuminates the MIL and stores this DTC.
MONITOR STRATEGY
|
Related DTCs |
C051D: Acceleration sensor missing calibration |
|
Required Sensors/Components(Main) |
No. 2 skid control ECU (brake actuator assembly) |
|
Required Sensors/Components(Related) |
Speed sensor No. 2 skid control ECU (brake actuator assembly) |
|
Frequency of Operation |
Continuous |
|
Duration |
- |
|
MIL Operation |
Immediately |
|
Sequence of Operation |
None |
TYPICAL ENABLING CONDITIONS
All
|
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 |
Case 1
|
All of the following conditions are met |
- |
|
Dealer Mode |
Off |
|
Acceleration sensor zero point learning command reception presence |
Off |
|
Vehicle speed |
40 km/h (24.85 mph) or more |
|
IG1 |
On |
Case 2
|
Both of the following conditions are met |
- |
|
Learning of zero position |
Complete |
|
IG1 |
On |
Case 3
|
All of the following conditions are met |
- |
|
Last learning of zero position |
Not complete |
|
Current learning of zero position |
Complete |
|
IG1 |
On |
TYPICAL MALFUNCTION THRESHOLDS
Case 1
|
Learning of zero position |
Not complete |
Case 2
|
Either of the following conditions is met |
- |
|
GL1 zero position (memory) difference |
0.9022118 m/s2 or more |
|
GL2 zero position (memory) difference |
0.9022118 m/s2 or more |
Case 3
|
Either of the following conditions is met |
- |
|
GL1 zero position difference |
0.9022118 m/s2 or more |
|
GL2 zero position difference |
0.9022118 m/s2 or more |
COMPONENT OPERATING RANGE
All
|
All of the following conditions are met |
- |
|
GL1 zero position difference |
Less than 0.9022118 m/s2 |
|
GL2 zero position difference |
Less than 0.9022118 m/s2 |
|
GL1 zero position (memory) difference |
Less than 0.9022118 m/s2 |
|
GL2 zero position (memory) difference |
Less than 0.9022118 m/s2 |
|
Learning of zero position |
Complete |
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 40 km/h (24.85 mph) or more for 5 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 the No. 2 skid control ECU (brake actuator 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)
-
After replacing or reinstalling the yaw rate and acceleration sensor (airbag ECU assembly), perform "Calibration" after performing "Reset Memory".
Click here
PROCEDURE
|
1. |
PERFORM ZERO POINT CALIBRATION OF ACCELERATION SENSOR |
(a) Perform zero point calibration of the yaw rate and acceleration sensor (airbag ECU assembly).
Click here
Chassis > Brake/EPB > Utility
|
Tester Display |
|---|
|
Calibration |
|
|
2. |
CLEAR DTC |
(a) Clear the DTCs.
Chassis > Brake/EPB > Clear DTCs
(b) Turn the ignition switch off.
|
|
3. |
RECONFIRM DTC |
(a) Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.
(b) Check if the same DTC is output.
Chassis > Brake/EPB > Trouble Codes
|
Result |
Proceed to |
|---|---|
|
DTC C051D00 is not output. |
A |
|
DTC C051D00 is output. |
B |
| A |
|
END |
|
|
4. |
CHECK AIRBAG ECU ASSEMBLY |
(a) Turn the ignition switch off.
(b) 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.
| NG |
|
|
|
5. |
READ VALUE USING GTS (ACCELERATION SENSOR) |
(a) Check the acceleration sensor output value displayed on the GTS.
Chassis > Brake/EPB > Data List
|
Tester Display |
Measurement Item |
Range |
Normal Condition |
Diagnostic Note |
|---|---|---|---|---|
|
Lateral G |
Lateral G |
Min.: -25.105 m/s2 Max.: 24.908 m/s2 |
Turning right: -25.105 to 0.000 m/s2 Turning left: 0.000 to 24.908 m/s2 |
During turning: Changes in proportion with lateral acceleration |
|
Forward and Rearward G |
Forward and rearward G |
Min.: -25.105 m/s2 Max.: 24.908 m/s2 |
During deceleration: -25.105 to 0.000 m/s2 During acceleration: 0.000 to 24.908 m/s2 |
During acceleration/deceleration: Changes in proportion with acceleration |
Chassis > Brake/EPB > Data List
|
Tester Display |
|---|
|
Lateral G |
|
Forward and Rearward G |
OK:
The acceleration sensor output value is normal.
| OK |
|
REPLACE BRAKE ACTUATOR ASSEMBLY
|
| NG |
|
REPLACE AIRBAG ECU ASSEMBLY
|
|
|