BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): C052C14,...,C052F14; ABS Pump Motor Control Circuit Short to Ground or Open; 2022 - 2024 MY RAV4 RAV4 HV [12/2021

Last Modified: 01-30-2024	6.11:8.1.0	Doc ID: RM10000000214PG
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): C052C14,...,C052F14; ABS Pump Motor Control Circuit Short to Ground or Open; 2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ]

DTC

C052C14

ABS Pump Motor Control Circuit Short to Ground or Open

DTC

C052C16

ABS Pump Motor Control Circuit Voltage Below Threshold

DTC

C052C17

ABS Pump Motor Control Circuit Voltage Above Threshold

DTC

C052C49

ABS Pump Motor Control Internal Electronic Failure

DTC

C052F14

ABS Pump Motor Supply Voltage Circuit Short to Ground or Open

DESCRIPTION

The motor relay and motor fail-safe relay are built into the brake actuator assembly.

When the No. 2 skid control ECU (brake actuator assembly) operates ABS, TRAC, VSC, or brake assist, etc., the motor relay turns ON and drives the pump motor built into the brake actuator assembly.

If any DTCs related to motor supply power are stored, fail-safe is performed and supply of power to the motor relay is cut by the motor fail-safe relay.

If the voltage supplied to the motor relay (BM terminal) is below the DTC detection threshold due to low voltage from the auxiliary battery or DC/DC converter circuit, these DTCs may be stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	MIL	Note
C052C14	ABS Pump Motor Control Circuit Short to Ground or Open	When the voltage at terminal +BS is between 9.5 and 17.4 V and the motor is being driven at full power, an abnormal voltage is detected for 0.12 seconds or more.	Wire harness and connector No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C052E (Case 6 and 7) Output ECU: No. 2 skid control ECU (brake actuator assembly)
C052C16	ABS Pump Motor Control Circuit Voltage Below Threshold	When the voltage at terminal +BS is between 9.5 and 17.4 V and the motor is stopped, the detected motor voltage is excessively low for 2 seconds or more.	No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C052E (Case 1 to 5) Output ECU: No. 2 skid control ECU (brake actuator assembly)
C052C17	ABS Pump Motor Control Circuit Voltage Above Threshold	When the voltage at terminal +BS is between 9.5 and 17.4 V and the motor is stopped, the detected motor voltage is excessively high for 2 seconds or more.	No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C052D Output ECU: No. 2 skid control ECU (brake actuator assembly)
C052C49	ABS Pump Motor Control Internal Electronic Failure	Either of the following is detected: When the voltage at terminal +BS is between 9.5 and 17.4 V, overcurrent is detected in the motor circuit for 0.05 seconds or more. When the voltage at terminal +BS is between 9.5 and 17.4 V, an abnormal voltage is detected in the motor relay gate for 0.12 seconds or more.	Wire harness and connector No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C052B Output ECU: No. 2 skid control ECU (brake actuator assembly)
C052F14	ABS Pump Motor Supply Voltage Circuit Short to Ground or Open	When voltage at +BS terminal is 9.5 V or more, open in BM terminal continues for 1 second or more.	Wire harness and connector No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C055B Output ECU: No. 2 skid control ECU (brake actuator assembly)

C052C49 DTC Detection Conditions

		Vehicle Condition
		Pattern 1	Pattern 2
Diagnosis Condition	When the voltage at terminal +BS is between 9.5 and 17.4 V	○	○
Malfunction Status	Overcurrent is detected in the motor circuit	○	-
Malfunction Status	An abnormal voltage is detected in the motor relay gate	-	○
Detection Time		0.05 seconds or more.	0.12 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

C052B (Case 1):

When the command to reverse battery protection MOS is ON and the reverse battery protection MOS gate voltage monitor is ON, the No. 2 skid control ECU (brake actuator assembly) judges that there is a malfunction, the MIL is illuminated and a DTC is stored .

C052B (Case 2):

When the freewheeling MOS overcurrent signal is OFF and the motor relay gate voltage monitor is ON, the No. 2 skid control ECU (brake actuator assembly) judges that there is a malfunction, the MIL is illuminated and a DTC is stored.

C052B (Case 3 and 8):

When there is a command to turn off the motor relay, motor fail-safe relay, reverse battery protection MOS and freewheeling MOS, and any of the following conditions are met, the No. 2 skid control ECU (brake actuator assembly) judges that the gate voltage is abnormal, the MIL is illuminated and a DTC is stored.
- The motor relay gate voltage monitor is on.
- The reverse battery protection MOS gate voltage monitor is on.
- The freewheeling MOS gate voltage monitor is on.

C052B (Case 4, 6 and 9), C052D and C052E (Case 1 to 6):

When the voltage upstream or downstream of the motor is outside of the specified range, the No. 2 skid control ECU (brake actuator assembly) judges that the gate voltage is abnormal or the motor circuit is malfunctioning, the MIL is illuminated and a DTC is stored.

C052B (Case 5):

When there is a command to turn on the motor relay and the motor relay gate voltage monitor is off, the No. 2 skid control ECU (brake actuator assembly) judges that the gate voltage is abnormal, the MIL is illuminated and a DTC is stored.

C052B (Case 7):

When there is a command to turn on the reverse battery protection MOS and the reverse battery protection MOS gate voltage monitor is off, the No. 2 skid control ECU (brake actuator assembly) judges that the gate voltage is abnormal, the MIL is illuminated and a DTC is stored.

C052B (Case 10):

When this is no history of motor power supply voltage drop, there is a command to turn on the motor fail-safe relay, and overcurrent is detected in the motor circuit, the No. 2 skid control ECU (brake actuator assembly) judges that there is overcurrent, the MIL is illuminated and a DTC is stored.

C052B (Case 11):

When the freewheeling MOS overcurrent signal is ON, the No. 2 skid control ECU (brake actuator assembly) judges that there is a malfunction, the MIL is illuminated and a DTC is stored.

C052E (Case 7):

When there is a command to turn on the motor fail-safe relay and the freewheeling MOS, and the freewheeling MOS gate voltage monitor is off, the No. 2 skid control ECU (brake actuator assembly) judges that the relay is abnormal, the MIL is illuminated and a DTC is stored.

C055B:

When the voltage at terminal +BM is less than a certain value, the No. 2 skid control ECU (brake actuator assembly) judges that the motor voltage is abnormal, the MIL is illuminated and a DTC is stored.

MONITOR STRATEGY

Related DTCs	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low
Required Sensors/Components(Main)	No. 2 skid control ECU (brake actuator assembly)
Required Sensors/Components(Related)	-
Frequency of Operation	Continuous
Duration	0.054 seconds: C052B (Case 10 and 11) 0.12 seconds: C052B (Case 1, 2, 4, 5, 7 and 8) and C052E (Case 3, 4, 5, 6 and 7) 1.002 seconds: C055B 2 seconds: C052D (Case 2) 2.004 seconds: C052E (Case 2) 4 seconds: C052D (Case 1) and C052E (Case 1) 4.002 seconds: C052B (Case 3, 6 and 9) and C052D (Case 3 and 4)
MIL Operation	Immediately
Sequence of Operation	None

TYPICAL ENABLING CONDITIONS

C052B (Case 1)

Monitor runs whenever the following DTCs are not stored	C052B (Case 2 to 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to reverse battery protection MOS	On

C052B (Case 2)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 3, 4 ,5, 6, 7, 8, 9, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Motor circuit current	Less than 264 A
Freewheeling MOS overcurrent signal	Off
Motor duty output order value	100%

C052B (Case 3 and 8)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052B (Case 4)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	On
Command to motor fail-safe relay	Off

C052B (Case 5)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	On
Motor duty output order value	100%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052B (Case 6)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	On
Motor duty output order value	100%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052B (Case 7)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	On
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052B (Case 9)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 10 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	On
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ASIC output permission	Off

C052B (Case 10)

Monitor runs whenever the following DTCs are not stored	C052B (Case 1, 2, 3, 4, 5, 6, 7, 8, 9 and 11): ABS pump motor performance C052D: ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
Both of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor relay	On
History of motor power supply voltage drop	Off

C052B (Case 11)

Monitor runs whenever the following DTCs are not stored

C052B (Case 1 to 10): ABS pump motor performance

C052D: ABS pump motor circuit high

C052E: ABS pump motor open circuit

C055B: ABS pump motor voltage circuit low

C137C: Brake system voltage input out of range low

C137D: Brake system voltage input out of range high

C052D (Case 1)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D (Case 2 to 4): ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Motor stop state	On
Command to motor fail-safe relay	On

C052D (Case 2)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D (Case 1, 3 and 4): ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
Both of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor fail-safe relay	Off

C052D (Case 3 and 4)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D (Case 1 and 2): ABS pump motor circuit high C052E: ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052E (Case 1)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 2 to 7): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
Both of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Motor stop state	On

C052E (Case 2)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1 and 6): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	On

C052E (Case 3)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1 and 6): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	On
Command to motor fail-safe relay	Off

C052E (Case 4)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1 and 6): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	On
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052E (Case 5)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1 and 6): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C052E (Case 6)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1, 2, 3, 4, 5 and 7): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C0597 (Case 1): ABS hold solenoid circuit stuck C0597 (Case 2 to 5): ABS hold solenoid performance C12A7: ABS hold solenoid (FL) circuit low C12A8: ABS hold solenoid (FL) circuit high C12B2: ABS release solenoid (FL) circuit low C12B3: ABS release solenoid (FL) circuit high C12BD: ABS hold solenoid (FR) circuit low C12BE: ABS hold solenoid (FR) circuit high C12C8: ABS release solenoid (FR) circuit low C12C9: ABS release solenoid (FR) circuit high C12D3: ABS hold solenoid (RL) circuit low C12D4: ABS hold solenoid (RL) circuit high C12DE: ABS release solenoid (RL) circuit low C12DF: ABS release solenoid (RL) circuit high C12E9: ABS hold solenoid (RR) circuit low C12EA: ABS hold solenoid (RR) circuit high C12F4: ABS release solenoid (RR) circuit low C12F5: ABS release solenoid (RR) circuit high C12F6: ABS hold solenoid other functional C12F7: ABS hold solenoid other functional C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high C13BF: SM solenoid other functional C13C2: SM1 solenoid circuit low C13C3: SM1 solenoid circuit high C13CB: SM2 solenoid circuit low C13CC: SM2 solenoid circuit high C1427: ABS pump motor stuck C143B: Brake system voltage solenoid relay stuck C143C: Brake system voltage open circuit
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor fail-safe relay	On
Motor duty output order value	100%

C052E (Case 7)

Monitor runs whenever the following DTCs are not stored	C052B: ABS pump motor performance C052D: ABS pump motor circuit high C052E (Case 1 and 6): ABS pump motor open circuit C055B: ABS pump motor voltage circuit low C137C: Brake system voltage input out of range low C137D: Brake system voltage input out of range high
All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	On
Motor duty output order value	100%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

C055B (Case 1)

Monitor runs whenever the following DTCs are not stored	C137C: Brake system voltage input out of range low
+BS voltage	9.5 V or more

C055B (Case 2)

Monitor runs whenever the following DTCs are not stored	None
All of the following conditions are met	-
+BS voltage	9.5 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off

TYPICAL MALFUNCTION THRESHOLDS

C052B (Case 1)

Reverse battery protection MOS gate voltage monitor

C052B (Case 2)

Motor relay gate voltage monitor

C052B (Case 3 and 8)

Either of the following conditions is met	-
Motor relay gate voltage monitor	On
Freewheeling MOS gate voltage monitor	On
Reverse battery protection MOS gate voltage monitor	On

C052B (Case 4)

Freewheeling MOS gate voltage monitor

Off

C052B (Case 5)

Motor relay gate voltage monitor

Off

C052B (Case 6)

High side voltage of motor

3 V or less, or 6.5 V or more

C052B (Case 7)

Reverse battery protection MOS gate voltage monitor

Off

C052B (Case 9) and C052D (Case 3)

Either of the following conditions is met	-
High side voltage of motor	3 V or less, or 6.5 V or more
Voltage difference between high and low side of motor (MTDIF voltage)	-1 V or less, or 6.5 V or more

C052B (Case 10)

Motor circuit current

264 A or more

C052B (Case 11)

Freewheeling MOS overcurrent signal

C052D (Case 1)

Either of the following conditions is met	-
High side voltage of motor (MT voltage)	6.5 V or more
Voltage difference between high and low side of motor (MTDIF voltage)	6.5 V or more

C052D (Case 2)

High side voltage of motor (MT voltage)

3 V or less

C052D (Case 4)

Low side voltage of motor

3 V or less, or 6.5 V or more

C052E (Case 1)

High side voltage of motor (MT voltage)

3 V or more, and 6.5 V or less

C052E (Case 2, 3 and 4)

Either of the following conditions is met	-
High side voltage of motor	Higher than 3 V
Voltage difference between high and low side of motor (MTDIF voltage)	-1 V or less, or 6.5 V or more

C052E (Case 5)

High side voltage of motor

3 V or less, or 6.5 V or more

C052E (Case 6)

Either of the following conditions is met	-
Difference BM voltage and high side voltage of motor (MT voltage)	Higher than 1.5 V
Voltage difference between high and low side of motor (MTDIF voltage)	Less than 3 V

C052E (Case 7)

Either of the following conditions is met	-
High side voltage of motor	Higher than 6 V, or less than +BM voltage -1.5 V
Voltage difference between high and low side of motor (MTDIF voltage)	-1 V or less, or 6.5 V or more

C055B

+BM voltage

Less than 6 V

COMPONENT OPERATING RANGE

C052B (Case 1 and 2)

ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected

C052B (Case 3 and 8) and C052E (Case 5)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 4)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	On
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 5) and C052E (Case 7)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	On
Motor duty output order value	100%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 6)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	On
Motor duty output order value	100%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 7) and C052E (Case 4)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	On
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 9)

All of the following conditions are met	-
+BS voltage	17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	On
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ASIC output permission	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052B (Case 10)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor relay	On
History of motor power supply voltage drop	Off
Motor circuit current	Less than 264 A

C052B (Case 11)

Both of the following conditions are met	-
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected

C052D (Case 1)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Motor stop state	On
Command to motor fail-safe relay	On
High side voltage of motor (MT voltage)	Less than 3 V
Voltage difference between high and low side of motor (MTDIF voltage)	Less than 3 V

C052D (Case 2)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor fail-safe relay	Off
High side voltage of motor (MT voltage)	Higher than 3 V

C052D (Case 3 and 4)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052E (Case 1)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Motor stop state	On
High side voltage of motor (MT voltage)	Less than 3 V
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected

C052E (Case 2)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	On
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052E (Case 3)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
+BM voltage	6 V or more
Motor relay input signal permission	On
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	On
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

C052E (Case 6)

All of the following conditions are met	-
+BS voltage	9.5 V or more, and 17.4 V or less
Command to motor fail-safe relay	On
Motor duty output order value	100%
Difference BM voltage and high side voltage of motor (MT voltage)	1.5 V or more
Voltage difference between high and low side of motor (MTDIF voltage)	3 V or more

C055B (Case 1)

Both of the following conditions are met	-
+BS voltage	9.5 V or more
+BM voltage	6 V or more

C055B (Case 2)

All of the following conditions are met	-
+BS voltage	9.5 V or more
Motor relay input signal permission	Off
Command to motor relay	Off
Motor duty output order value	0%
Command to reverse battery protection MOS	Off
Command to freewheeling MOS	Off
Command to motor fail-safe relay	Off
ECU state	Pre main
ABS pump motor fail (C052B, C052D, C052E, C055B)	Not detected
Brake system voltage fail (C143B, C143C)	Not detected
ABS hold solenoid fail (C0597)	Not detected
Wheel speed sensor fail (C14E1, C14E4, C14E7, C14EA)	Not detected

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.
Wait 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.

WIRING DIAGRAM

CAUTION / NOTICE / HINT

NOTICE:

Inspect the fuses for circuits related to this system before performing the following procedure.
After replacing the No. 2 skid control ECU (brake actuator assembly), perform "Calibration" after performing "Reset Memory".
Click here

PROCEDURE

1.	CHECK HARNESS AND CONNECTOR (BM TERMINAL)

(a) Make sure that there is no looseness at the locking part and the connecting part of the connectors.

OK:

The connector is securely connected.

*a	Front view of wire harness connector (to No. 2 Skid Control ECU (Brake Actuator Assembly))

(b) Disconnect the A105 No. 2 skid control ECU (brake actuator assembly) connector.

OK:

No deformation or corrosion.

(d) Measure the voltage according to the value(s) in the table below.

Standard Voltage:

Tester Connection	Condition	Specified Condition
A105-46 (BM) - Body ground	Always	11 to 14 V

REPAIR OR REPLACE HARNESS OR CONNECTOR

2.	CHECK HARNESS AND CONNECTOR (GND2 TERMINAL)

(a) Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
A105-30 (GND2) - Body ground	1 minute or more after disconnecting the cable from the negative (-) auxiliary battery terminal	Below 1 Ω

REPAIR OR REPLACE HARNESS OR CONNECTOR

CLEAR DTC

(a) Reconnect the A105 No. 2 skid control ECU (brake actuator assembly) connector.

(b) Clear the DTCs.

Chassis > Brake/EPB > Clear DTCs

4.	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
DTCs C052C14, C052C16, C052C17, C052C49 and C052F14 are not output.	A
DTCs C052C14, C052C16, C052C17, C052C49 and/or C052F14 are output.	B

HINT:

If a speed signal of 20 km/h (12 mph) or more is sent to the No. 2 skid control ECU (brake actuator assembly) with the ignition switch turned to ON and the stop light switch assembly off, the ECU performs self-diagnosis of the motor circuit.
If the normal system code is output (no DTCs are output), slightly jiggle the connectors, wire harness, and fuses of the No. 2 skid control ECU (brake actuator assembly).
If any DTCs are output while jiggling a connector or wire harness of the No. 2 skid control ECU (brake actuator assembly), inspect and repair the connector or wire harness.
If no DTCs were output when reconfirming DTCs, checking for intermittent problems is necessary because it is suspected that the original DTCs were stored due to the poor connection of a connector terminal.

USE SIMULATION METHOD TO CHECK

REPLACE BRAKE ACTUATOR ASSEMBLY