VEHICLE STABILITY CONTROL SYSTEM, Diagnostic DTC:C1234, C1472, C1474

DTC Code DTC Name
C1234 Yaw Rate Sensor
C1472 Acceleration Sensor
C1474 Forward and Rearward G Sensor

DESCRIPTION

The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag sensor assembly) via CAN communication.

Tech Tips

If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag sensor assembly) and the CAN communication system, DTC U0123 (Lost Communication with Yaw Rate Sensor Module) is output. When U0123 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0123 first.

These DTCs may be stored if one of the following occurs:


DTC No. Detection Item DTC Detection Condition Trouble Area
C1234 Yaw Rate Sensor

Any of the following is detected:


  1. The yaw rate sensor offset value is estimated as less than -5.25 deg/s or more than 5.25 deg/s based on offset correction performed when the vehicle is stopped and then the vehicle starts off.

  2. The offset correction did not complete with the vehicle stopped, and the yaw rate sensor offset value is estimated as less than -15 deg/s or more than 15 deg/s based on the offset correction performed while the vehicle is being driven.

  3. The offset correction completed with the vehicle stopped and the yaw rate sensor offset value is less than -7.5 deg/s or more than 7.5 deg/s.

  4. The yaw rate sensor offset value is estimated as less than -7.5 deg/s or more than 7.5 deg/s based on the offset correction performed while the vehicle is being driven.

  5. After the VSC system has turned on, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 5 seconds or more when the vehicle is stopped.

  6. After the VSC system has turned on, but before the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more when the vehicle starts off.

  7. After the VSC system has turned on, but before the vehicle starts off, as the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s for 0.5 seconds or more.

  8. The yaw rate sensor value is less than -94.75 deg/s or more than 94.75 deg/s for 0.8 seconds or more.

  9. The change of the yaw rate sensor value within 0.04 seconds is abnormal.

  10. The value from the yaw rate sensor is judged as abnormal based on the skid control ECU (brake actuator assembly) estimation.

  • Yaw rate sensor (airbag sensor assembly) installation

  • Yaw rate sensor (airbag sensor assembly)

  • Yaw rate sensor circuit
C1472 Acceleration Sensor

Any of the following is detected:


  1. With the vehicle stopped, the internal acceleration value is less than -7 m/s2or more than 7 m/s2for 0.4 seconds or more.

  2. The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed while the vehicle is being driven.

  3. The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2for 0.8 seconds or more.

  • Acceleration sensor (airbag sensor assembly) installation

  • Acceleration sensor (airbag sensor assembly)

  • Acceleration sensor circuit
C1474 Forward and Rearward G Sensor

Any of the following is detected:


  1. The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed while the vehicle is being driven.

  2. The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2for 3 seconds or more.

  • Acceleration sensor (airbag sensor assembly) installation

  • Acceleration sensor (airbag sensor assembly)

  • Acceleration sensor circuit
DTC Detection Conditions: C1234
Vehicle Condition
Pattern 1 Pattern 2 Pattern 3 Pattern 4 Pattern 5
Diagnosis Condition The offset correction did not complete with the vehicle stopped. - ○ - - -
The offset correction completed with the vehicle stopped. - - ○ - -
The vehicle is being driven. - - - ○ -
The VSC system has turned on, but the vehicle has not started off. - - - - ○
Malfunction Status The yaw rate sensor offset value is estimated as less than -5.25 deg/s or more than 5.25 deg/s based on offset correction performed when the vehicle is stopped and then the vehicle starts off. ○ - - - -
The yaw rate sensor offset value is estimated as less than -15 deg/s or more than 15 deg/s based on the offset correction performed while the vehicle is being driven. - ○ - - -
The yaw rate sensor offset value is less than -7.5 deg/s or more than 7.5 deg/s. - - ○ - -
The yaw rate sensor offset value is estimated as less than -7.5 deg/s or more than 7.5 deg/s based on the offset correction performed. - - - ○ -
The yaw rate sensor value is less than -30 deg/s or more than 30 deg/s. - - - - ○
Detection Time - - - - 5 seconds or more when the vehicle is stopped.
Number of Trips 1 trip 1 trip 1 trip 1 trip 1 trip

Tech Tips

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

DTC Detection Conditions: C1234
Vehicle Condition
Pattern 6 Pattern 7 Pattern 8 Pattern 9 Pattern 10
Diagnosis Condition The VSC system has turned on, but the vehicle has not started off. ○ ○ - - -
Malfunction Status The yaw rate sensor value is less than -30 deg/s or more than 30 deg/s. ○ - - - -
As the vehicle starts off, the yaw rate sensor value is less than -30 deg/s or more than 30 deg/s. - ○ - - -
The yaw rate sensor value is less than -94.75 deg/s or more than 94.75 deg/s. - - ○ - -
The change of the yaw rate sensor value within 0.04 seconds is abnormal. - - - ○ -
The value from the yaw rate sensor is judged as abnormal based on the skid control ECU (brake actuator assembly) estimation. - - - - ○
Detection Time 0.5 seconds or more when the vehicle starts off. 0.5 seconds or more 0.8 seconds or more - -
Number of Trips 1 trip 1 trip 1 trip 1 trip 1 trip

Tech Tips

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

DTC Detection Conditions: C1472
Vehicle Condition
Pattern 1 Pattern 2 Pattern 3
Diagnosis Condition The vehicle stopped. ○ - -
Vehicle is being driven. - ○ -
Malfunction Status

The internal acceleration value is less than -7 m/s2or more than 7 m/s2.

 ○ - -

The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed.

 - ○ -

The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2.

 - - ○
Detection Time 0.4 seconds or more - 0.8 seconds or more
Number of Trips 1 trip 1 trip 1 trip

Tech Tips

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

DTC Detection Conditions: C1474
Vehicle Condition
Pattern 1 Pattern 2
Diagnosis Condition The vehicle is being driven. ○ -
Malfunction Status

The acceleration sensor offset value is estimated as less than -2.25 m/s2or more than 2.25 m/s2based on the offset correction performed.

 ○ -

The acceleration sensor value is less than -14.6 m/s2or more than 14.6 m/s2.

 - ○
Detection Time - 3 seconds or more
Number of Trips 1 trip 1 trip

Tech Tips

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

WIRING DIAGRAM

B0070U8E44
*a from IG2-NO. 2 Relay
*b CAN Communication Line
*c Skid Control ECU (Brake Actuator Assembly)
*d Yaw Rate and Acceleration Sensor (Airbag Sensor Assembly)

CAUTION / NOTICE / HINT

Note


  • Inspect the fuses for circuits related to this system before performing the following procedure.

  • After replacing or reinstalling the yaw rate and acceleration sensor (airbag sensor assembly), perform system variant learning and acceleration sensor zero point calibration.

    Click here

Tech Tips

When U0123 and/or U0126 is output together with C1234, C1472 and/or C1474, inspect and repair the trouble areas indicated by U0123 and/or U0126 first.

Click here

PROCEDURE


  1. CHECK DTC


    1. Clear the DTCs.


      Chassis > ABS/VSC/TRC > Clear DTCs

    2. Turn the ignition switch off.

    3. Start the engine.

    4. At a speed of 30 km/h (18 mph) or more, drive the vehicle, turn the steering wheel, and decelerate (depress the brake pedal) the vehicle.

    5. Turn the ignition switch off.

    6. Turn the ignition switch to ON again and check that no CAN communication system DTCs are output.

      Click here

      Result
      Result Proceed to
      CAN communication system DTCs are not output A
      CAN communication system DTCs are output B

    B

    INSPECT CAN COMMUNICATION SYSTEM Click here

    A

  2. CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION


    1. Turn the ignition switch off.

    2. Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.

      Click here

      OK
      The yaw rate and acceleration sensor (airbag sensor assembly) is tightened to the specified torque.
      The yaw rate and acceleration sensor (airbag sensor assembly) is not installed in a tilted position.
      Result
      Proceed to
      OK
      NG

    NG

    INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY Click here

    OK

  3. CHECK HARNESS AND CONNECTOR (POWER SOURCE TERMINAL)


    1. B0070YUC01
      *a

      Front view of wire harness connector

      (to Yaw Rate and Acceleration Sensor (Airbag Sensor Assembly))

      Make sure that there is no looseness at the locking part and the connecting part of the connector.

      OK
      The connector is securely connected.

    2. Disconnect the K73 yaw rate and acceleration sensor (airbag sensor assembly) connector.

    3. Check both the connector case and the terminals for deformation and corrosion.

      OK
      No deformation or corrosion.

    4. Turn the ignition switch to ON.

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

      Standard Voltage
      Tester Connection Condition Specified Condition
      K73-36 (IG2) - Body ground Ignition switch ON 11 to 14 V
      Result
      Proceed to
      OK
      NG

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

    OK

  4. CHECK HARNESS AND CONNECTOR (GROUND TERMINAL)


    1. B0070YUC02
      *a

      Front view of wire harness connector

      (to Yaw Rate and Acceleration Sensor (Airbag Sensor Assembly))

      Turn the ignition switch off.

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

      Standard Resistance
      Tester Connection Condition Specified Condition
      K73-33 (E1) - Body ground Always Below 1 Ω
      K73-32 (E2) - Body ground Always Below 1 Ω
      Result
      Proceed to
      OK
      NG

    OK

    REPLACE AIRBAG SENSOR ASSEMBLY Click here

    NG

    REPAIR OR REPLACE HARNESS OR CONNECTOR (GROUND CIRCUIT)