2009 Toyota Highlander Limited

2009 BRAKES Brake Control - Highlander

2009 BRAKES

Brake Control - Highlander

VEHICLE STABILITY CONTROL SYSTEM

PRECAUTION

1. PRECAUTION FOR DISCONNECTING THE BATTERY CABLE

NOTE: When disconnecting the battery negative (-) terminal, initialize the
following system after the terminal is reconnected:

SYSTEM REFERENCE
System See procedure

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Power back door system INITIALIZATION

2. EXPRESSIONS OF IGNITION SWITCH

The type of ignition switch used on this model differs according to the specifications of the vehicle. The
expressions listed in the table below are used in this article.

IGNITION SWITCH EXPRESSIONS CHART

Switch Type
Expression
Ignition Switch (Position) Engine Switch (Condition)
Ignition switch off LOCK off
Ignition switch on (IG) ON on (IG)
Ignition switch on (ACC) ACC on (ACC)
Engine start START start

3. TROUBLESHOOTING PRECAUTIONS
a. When there is a malfunction with terminal contact points or part installation problems, removal and
installation of the suspected parts may return the system to the normal condition either completely
or temporarily.
b. In order to determine the malfunctioning area, be sure to check the conditions at the time the
malfunction occurred, such as DTC output and the Freeze Frame Data, and record them before
disconnecting each connector or removing and installing parts.
c. Since the system may be influenced by malfunctions in systems other than the VSC system, be sure
to check for DTCs in other systems.
4. HANDLING PRECAUTIONS
a. Do not remove or install VSC parts such as the steering angle sensor or yaw rate sensor
(acceleration sensor included) except when required, as they cannot be adjusted correctly after
removal or installation.
b. Be sure to perform preparation before work and confirmation after work is completed by following
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2009 BRAKES Brake Control - Highlander

the directions in the repair manual when working on the VSC system.
c. Be sure to remove and install the ECU, brake actuator and each sensor, etc. with the ignition switch
off unless it is specified in the inspection procedure.
d. If the ECU, brake actuator or a sensor has been removed and installed, it is necessary to check the
system for problems after the parts have been reassembled. Check for DTCs using Techstream, and
also check that system functions and signals received by the ECU are normal using Test Mode.
5. DTC PRECAUTION
a. Warnings for some DTCs will not be cleared by just replacing the defective parts. If a warning is
still displayed after completing a repair, turn the ignition switch off before beginning the procedure
for clearing DTCs.

NOTE: If a part is still malfunctioning even after the DTC is cleared, the DTC will
be stored again.

6. CHASSIS DYNAMOMETER PRECAUTION

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a. Enter Test Mode to disable TRAC and VSC control when using a chassis dynamometer (See
REPAIR INSTRUCTION ).

HINT:

 The vehicle may unexpectedly move off of the dynamometer because of TRAC and VSC
operation.
 Pressing the VSC OFF switch does not disable TRAC and VSC operation completely.

NOTE:  Make sure that the slip indicator light is blinking (Test Mode is
activated).
 Secure the vehicle with lock chains for safety.

7. CAN COMMUNICATION SYSTEM PRECAUTIONS

a. The CAN communication system is used for data communication between the skid control ECU,
the steering angle sensor, the yaw rate sensor (acceleration sensor included) and other ECUs. If
there are any problems in the CAN communication lines, corresponding DTCs for the
communication lines are output.
b. If any CAN communication line DTCs are output, repair the malfunction in the communication
lines and troubleshoot the VSC system after data communication becomes normal.
c. In order to enable CAN communication, a specific type of wiring is used for the CAN
communication lines. The wiring used for each communication line is a twisted pair of wires that
have an equal length. A bypass wire should not be used because the data being transmitted will be
corrupted.

PARTS LOCATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 1: Identifying Vehicle Stability Control System Parts Location (1 Of 2) cardiagn.com

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 2: Identifying Vehicle Stability Control System Parts Location (2 Of 2) cardiagn.com

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

SYSTEM DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 3: Vehicle Stability Control System Diagram (1 Of 2)

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC. cardiagn.com
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 4: Vehicle Stability Control System Diagram (2 Of 2)

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

TRANSMITTING ECU (TRANSMITTER) REFERENCE

Transmitting ECU Communication
Receiving ECU Signals
(Transmitter) Method
CAN communication
Skid control ECU Steering angle sensor Steering angle sensor request signal
system
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2009 BRAKES Brake Control - Highlander

Yaw rate and Yaw rate and acceleration request CAN communication
Skid control ECU
acceleration sensor signal system
 Wheel speed signal CAN communication
Skid control ECU ECM
 VSC data signal system
 Shift position signal
 Throttle position signal
 Engine revolution signal
CAN communication
ECM Skid control ECU  Intake air temperature signal system
 Engine torque request signal
 Accelerator pedal position
signal
CAN communication
Skid control ECU Power steering ECU Target additional torque signal
system

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Electronic power steering CAN communication
Power steering ECU Skid control ECU
cooperative control enabling signal system
 ABS warning light signal
 Brake warning light signal
 VSC OFF indicator light
signal
 TRAC OFF indicator light
signal CAN communication
Skid control ECU Combination meter
 Slip indicator light signal system
 Downhill assist control
indicator light signal ((1))
 Master caution indicator light
signal ((2))
 Wheel speed signal
(1) for 4WD

(2) Models with multi-information display

SYSTEM DESCRIPTION

1. FUNCTION DESCRIPTION

HINT:

 The skid control ECU is located within the brake actuator assembly.
 The yaw rate sensor and acceleration sensor are combined in a single unit. This unit communicates
with the skid control ECU through CAN communication.
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2009 BRAKES Brake Control - Highlander

a. ABS (Anti-lock Brake System)

The ABS helps prevent the wheels from locking when the brakes are applied firmly or when
braking on a slippery surface.

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Fig. 5: ABS (Anti-Lock Brake System) Communication Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

1. Operation description

The skid control ECU detects wheel lock based on speed signals received from the wheel
speed sensors. Based on this information, the skid control ECU controls the pump motor and
solenoid valves. The pump motor and solenoid valves are used to prevent wheel lock by
controlling the hydraulic pressure applied to the brakes at each wheel. The ABS warning
light will come on when the system is malfunctioning.

HINT:
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2009 BRAKES Brake Control - Highlander

For vehicles with the multi-information display, the master caution indicator light will come
on and a check ABS message will be displayed on the multi-information display if the ABS
control cannot be performed.

b. EBD (Electronic Brake force Distribution)

The EBD control utilizes ABS, and performs proper brake force distribution between the front and
rear wheels in accordance with driving conditions. When braking while cornering, it also controls
the brake force distribution between the right and left wheels, helping to maintain vehicle behavior.

Fig. 6: EBD (Electronic Brake Force Distribution) Communication Diagram

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

1. Operation description

The skid control ECU receives a speed signal from each wheel speed sensor, and uses these
signals to detect locking of the wheels. The ECU uses this information in order to determine
appropriate control of the solenoid valves. The solenoid valves control the hydraulic pressure
applied to the brake cylinder at each wheel. In this way, the solenoid valves are used to
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2009 BRAKES Brake Control - Highlander

control the brake power split between the front and rear, and left and right wheels. The ABS
warning and brake warning lights will come on if there is a malfunction in the EBD system.

HINT:

For vehicles with the multi-information display, the master caution indicator light will come
on and a brake malfunction message will be displayed on the multi-information display if the
EBD system is malfunctioning.

c. BA (Brake Assist)

The primary purpose of the brake assist system is to provide auxiliary brake force to assist a driver
who cannot generate a large enough brake force during emergency braking, thus helping to
maximize the brake performance of the vehicle.

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Fig. 7: BA (Brake Assist) Communication Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. Operation description

The skid control ECU receives a speed signal from each speed sensor and a fluid pressure
signal from the master cylinder pressure sensor to determine whether brake assist is
necessary. If brake assist is necessary, the skid control ECU sends control signals to the
pump motor and solenoid. The pump and the solenoid valves then control the pressure
applied to each wheel cylinder.

The ABS warning light will come on to indicate a malfunction in the BA system.

HINT:

For vehicles with the multi-information display, the master caution indicator light will come
on and a check ABS message will be displayed on the multi-information display if the BA
system is malfunctioning.

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d. TRAC (Traction Control)

The TRAC system helps prevent the drive wheels from slipping when the driver depresses the
accelerator pedal excessively when starting off or accelerating on a slippery surface.
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2009 BRAKES Brake Control - Highlander

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Fig. 8: TRAC (Traction Control) Communication Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

1. Operation description

The skid control ECU detects wheels pin by receiving signals from each speed sensor and the
ECM via CAN communication. The skid control ECU sends signals via CAN
communication to the ECM in order to control engine torque. The skid control ECU controls
brake hydraulic pressure using the pump and solenoid valves.

The slip indicator light blinks when the system is operating. When there is a malfunction in
the TRAC system, the slip indicator light will come on.

The VSC OFF switch stops traction control operation. If TRAC control is turned off, the
TRAC OFF indicator light will come on.

HINT:
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2009 BRAKES Brake Control - Highlander

For vehicles with the multi-information display, the master caution indicator light will come
on if the TRAC system is malfunctioning.

e. VSC (Vehicle Stability Control)

The VSC system helps prevent the vehicle from slipping sideways as a result of strong front or rear
wheel skid during cornering.

Fig. 9: VSC (Vehicle Stability Control) Communication Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC. cardiagn.com
1. Operation description

The skid control ECU determines the vehicle operating conditions based on signals received
from the wheel speed sensors, yaw rate and acceleration sensor, and steering angle sensor.
The skid control ECU sends signals via CAN communication to the ECM in order to control
engine torque. The skid control ECU controls brake hydraulic pressure using the pump and
solenoid valves.
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2009 BRAKES Brake Control - Highlander

The slip indicator light blinks, and the skid control buzzer sounds when the system is
operating. If a malfunction occurs in the VSC system, the slip indicator light will come on.
The VSC OFF switch stops VSC control operation. If VSC control is turned off, the VSC
OFF indicator light will come on.

HINT:

For vehicles with the multi-information display, the master caution indicator light will come
on if the VSC cannot be performed.

2. DOWNHILL ASSIST CONTROL (for 4WD)

a. The downhill assist control generates four-wheel hydraulic pressure when the downhill assist
control switch is pressed and the accelerator and brake pedals are not depressed in order to maintain
a constant low vehicle speed while preventing wheel lock.

HINT:

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The downhill assist control operates when all of the following conditions:

Downhill assist control switch is ON.

 Shift lever is in the S1 or R position.

 Accelerator pedal and brake pedal are not depressed.

 Descending a hill at a vehicle speed of 25 km/h (16 mph) or less.

3. HILL-START ASSIST CONTROL

a. The hill-start assist control generates four-wheel hydraulic pressure when the brake pedal is further
depressed while the vehicle is stationary in order to prevent the vehicle from moving backward.

HINT:

The hill-start assist control will operate when the brake pedal is further depressed while all of the
following conditions are met:

Shift lever position is in a position other than P.



 Accelerator pedal is not depressed.

 Vehicle is at standstill.

 Parking brake is not applied.

4. COOPERATIVE CONTROL (ENHANCED-VSC) FUNCTION

Enhanced-VSC performs coordinated control consisting of VSC and electronic power steering. By
integrating these preventive safety functions, Enhanced-VSC ensures driving stability and
maneuverability of the vehicle.

If the vehicle loses stability due to wheel slippage, this function performs brake control by applying brake
pressure to the wheels. At the same time, electronic power steering provides steering torque assist control
to facilitate the driver's steering maneuvers.
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2009 BRAKES Brake Control - Highlander

a. Braking control on split friction roads

1. When braking on a split friction road, the vehicle tends to deflect toward the higher friction
side due to the difference between the braking forces on the left and right sides. With
Enhanced-VSC, the power steering ECU receives command signals from the skid control
ECU. Based on these signals, the power steering ECU operates the motor for the electronic
power steering to reduce the effect of the difference between the braking forces on the left
and right sides, assisting steering operation. This enables the driver to make steering
corrections more easily.
b. Accelerating when surface resistance differs between both sides of wheels
1. When accelerating on a split friction road, the vehicle tends to deflect toward lower friction
side due to the driving force difference between the left and right sides. With Enhanced-VSC,
the skid control ECU performs braking control of the drive wheel on the low friction side
(traction control function) and transmits command signals to the power steering ECU. Based
on these signals, the power steering ECU operates the motor for the electronic power steering
to reduce the effect of the driving force difference between the left and right sides, assisting

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steering operation. As a result, proper motive force and vehicle stability is ensured.
c. Front wheel skid control
1. When front wheel skidding is detected, engine output is limited and braking control is
performed based on the amount of understeer tendency. Accordingly, a moment of force is
generated in the vehicle turning direction to limit front wheel skid tendency.
2. When the skid control ECU determines that there is a front wheel skid tendency, it controls
the VSC to dampen the front wheel skid. At the same time, it effects cooperative control with
the electronic power steering to provide steering torque assist, which facilitates the driver's
steering maneuvers to stabilize the vehicle posture. The system also provides steering torque
assist to prevent excessive steering maneuvers. This assist increases the resistance to counter
the driver's steering effort if they turn the steering wheel excessively.
d. Rear wheel skid control
1. When rear wheel skidding is detected, brake force is applied to mainly the outer wheels
according to the amount of oversteer tendency. Accordingly, an anti-spin moment is
generated to limit the rear wheel skid tendency.
2. With Enhanced-VSC, the power steering ECU receives command signals from the skid
control ECU. Based on these signals, the power steering ECU operates the motor for the
electronic power steering to provide steering assist to help the driver compensate for the rear
wheel skid tendency. This enables the driver to operate the steering wheel more easily.
5. ABS with EBD, BA, TRAC and VSC OPERATION
a. The skid control ECU calculates vehicle stability tendency based on signals from the speed sensor,
yaw rate and acceleration sensor, and steering angle sensor. In addition, it evaluates the results of
the calculations to determine whether any control actions (control of the engine output torque by
electronic throttle control and of the wheel brake pressure by the brake actuator assembly) should
be implemented.
b. The slip indicator light blinks and the skid control buzzer sounds to inform the driver that the VSC
system is operating. The slip indicator light also blinks when traction control is operating, and the
operation being performed is displayed.
6. FAIL SAFE
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a. When a failure occurs in the ABS with BA, TRAC and VSC systems, the ABS warning and slip
indicator lights come on, and the ABS with BA, TRAC and VSC operations are prohibited. In
addition, when there is a failure that disables EBD operation, the brake warning light also comes on
and EBD operation is prohibited.
b. If control is prohibited due to a malfunction during operation, control will be disabled gradually.
This is to avoid sudden vehicle instability.
7. INITIAL CHECK
a. When the vehicle speed first reaches approximately 6 km/h (4 mph) after the ignition switch is
turned on (IG), each solenoid valve and motor of the brake actuator are sequentially activated to
perform an electrical check. During the initial check, the operating sound of the solenoid valves and
motor can be heard from the engine compartment, but this is not a malfunction.
8. INSPECTION MODE
a. TRAC and VSC operation can be disabled by operating Techstream (See REPAIR
INSTRUCTION ).

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9. FUNCTION OF COMPONENTS

COMPONENTS FUNCTION CHART

Components Function
Speed sensor Detects the wheel speed and sends the signal to the skid control ECU.
 The acceleration sensor measures the capacity of the condenser that changes
the distance between the electrodes depending on G force, which occurs
when the vehicle is accelerated, and converts the measured value into
Yaw rate and electrical signals.
acceleration sensor  The yaw rate sensor detects the vehicle's angular velocity (yaw rate) in the
vertical direction based on the amount and direction of the piezoelectric
ceramic deflection.
 Sends signals to the skid control ECU via CAN communication.
 Installed in the combination switch.
 Detects the steering amount and direction and sends the signals to the skid

Steering angle sensor control ECU via CAN communication.

 Has a magnetic resistance element which detects the rotation of the magnet
housed in the detection gear in order to detect the changes in magnetic
resistance and the steering amount and direction.
Detects the brake operating conditions and inputs the signals to the skid control
Stop light switch
ECU.
Brake pedal load  Installed on the brake pedal.
sensing switch  Turned on when the brake pedal is depressed.

Detects the parking brake operating conditions and inputs the signals to the skid
Parking brake switch
control ECU.
Master cylinder  Detects the fluid pressure in the master cylinder.
pressure sensor  Housed in the brake actuator assembly.
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2009 BRAKES Brake Control - Highlander

 Housed in the brake actuator assembly.

 Processes signals sent from each sensor to control the ABS, BA, TRAC, and
Skid control ECU VSC.
 Sends and receives control signals to or from the ECM, yaw rate and
acceleration sensor, and steering angle sensor, etc. via CAN communication.
 Consists of the master cylinder cut solenoid valve, retention solenoid valves,
Brake actuator pressure reduction solenoid valves, pump motor, and reservoir, and adjusts
assembly the brake fluid pressure applied to each wheel cylinder.
 Houses the skid control ECU.
 Supplies power to the pump motor.
ABS motor relay
 Housed in the skid control ECU.
ABS motor fail safe  Cuts off power to the motor when the pump motor circuit malfunctions.
relay  Housed in the skid control ECU.

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 Supplies power to each solenoid.
ABS solenoid relay
 Housed in the skid control ECU.

Stop light control Turns on the stop lights during downhill assist control (for 4WD) or hill-start assist
relay control operation.
 Comes on to inform the driver that a malfunction in the ABS and/or BA
ABS warning light system has occurred.
 Blinks to output DTCs.
Comes on to inform the driver that the parking brake is ON when the system

is normal, or the brake fluid has decreased.
Brake warning light
 Comes on to inform the driver that a malfunction in the EBD system has
occurred.
VSC OFF indicator Comes on to inform the driver when the VSC off mode is entered using the VSC
light OFF switch.
TRAC OFF indicator Comes on to inform the driver when the TRAC off mode is entered using the VSC
light OFF switch.
 Blinks to inform the driver when the TRAC, VSC, downhill assist control
Slip indicator light (for 4WD) and/or hill-start assist control operates.
 Blinks to output DTCs.

Downhill assist  Comes on to inform the driver when the downhill assist control operates.
control indicator  When the downhill assist control switch is on but not all operating

light ((1)) conditions are met, the downhill assist control indicator light blinks to
inform the driver.
Master caution Comes on to inform the driver that a malfunction in the brake control system has
indicator light ((2)) occurred.

Multi-information  Shows a warning message to alert the driver when the skid control ECU
detects a malfunction in the brake control system.
display ((2))
 Shows the downhill assist control operating conditions when the downhill
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assist control switch is on but not all operating conditions are met.
Intermittently sounds to inform the driver that the VSC is operating.
Skid control buzzer  Intermittently sounds to inform the driver if the temperature of the brake
actuator has increased excessively due to continuous operation of the
downhill assist control (for 4WD) or hill-start assist control.
Controls the engine output when TRAC and/or VSC are operating according to the
ECM
signals sent from the skid control ECU via CAN communication.
Pressing this switch turns off TRAC and pressing and holding this switch turns off
VSC OFF switch
TRAC and VSC.
Downhill assist
Pressing this switch turns downhill assist control ON or OFF.
control switch ((1))
(1) for 4WD

(2) Models with multi-information display

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HOW TO PROCEED WITH TROUBLESHOOTING

HINT:

*: Use Techstream.

1. VEHICLE BROUGHT TO WORKSHOP

2. CUSTOMER PROBLEM ANALYSIS
a. Interview the customer and confirm the problem (See HOW TO PROCEED WITH
TROUBLESHOOTING ).
3. CHECK DTC AND FREEZE FRAME DATA*
a. Check and record DTCs and Freeze Frame Data.
b. Clear the DTCs and Freeze Frame Data (See DTC CHECK/CLEAR for DTC Check/Clear, or
FREEZE FRAME DATA for Freeze Frame Data).
c. Reconfirm the DTCs.
1. Reconfirm the DTCs based on the recorded DTCs and Freeze Frame Data (See DTC
CHECK/CLEAR for DTC Check/Clear, or FREEZE FRAME DATA for Freeze Frame
Data).

HINT:

 When DTCs indicating CAN communication system malfunctions are output, repair
the CAN communication system before repairing each corresponding sensor (See
HOW TO PROCEED WITH TROUBLESHOOTING ).
 If any of DTCs U0100, U0123, U0124, and U0126 is output together with a CAN
communication DTC, first check the appropriate sensor for a momentary open circuit
(See CHECK FOR INTERMITTENT PROBLEMS).

Result
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RESULT CHART
Result Proceed to
DTC is output A
DTC is not output (Problem symptom does not occur) B
DTC is not output (Problem symptom occurs) C

B: GO TO STEP 5

C: GO TO STEP 6

A: Go to next step

4. DIAGNOSTIC TROUBLE CODEE CHART

a. Proceed to Diagnostic Trouble Code Chart (See DIAGNOSTIC TROUBLE CODE CHART).

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NEXT: GO TO STEP 7

5. SYMPTOM SIMULATION
a. Proceed to Diagnosis System (See DIAGNOSIS SYSTEM).
6. PROBLEM SYMPTOMS TABLE
a. Proceed to Problem Symptoms Table (See PROBLEM SYMPTOMS TABLE).
7. CIRCUIT INSPECTION*
8. IDENTIFICATION OF PROBLEM
9. REPAIR OR REPLACEMENT
10. CONFIRMATION TEST*

NEXT: END

CHECK FOR INTERMITTENT PROBLEMS

1. CHECK FOR INTERMITTENT PROBLEMS

HINT:

A momentary interruption (open circuit) in the connectors and/or wire harnesses between the sensors and
ECUs can be detected using the ECU Data List function of Techstream.

a. Turn the ignition switch off.

b. Connect Techstream to the DLC3.
c. Turn the ignition switch on (IG).
d. Turn Techstream on.
e. Follow the directions on Techstream to display the Data List and select areas where momentary
interruptions should be monitored.
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2009 BRAKES Brake Control - Highlander

HINT:

 A momentary interruption (open circuit) cannot be detected for 3 seconds after the ignition
switch is turned on (IG) (initial check).
 If the ERROR display remains displayed, check for continuity between the ECUs and the
sensors, or between ECUs.
 The ERROR display on Techstream will remain displayed for 1 second after the harness
signal changes from momentary interruption (open circuit) to normal condition.

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Fig. 10: ERROR Display On Techstream
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ERROR: Momentary
FR speed sensor open
FR Speed Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal
ERROR: Momentary
FL speed sensor open
FL Speed Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal

RR speed sensor open ERROR: Momentary

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detection/ERROR or NORMAL interruption NORMAL:

RR Speed Open -
Normal
ERROR: Momentary
RL speed sensor open
RL Speed Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal
ERROR: Momentary
EFI Communication EFI communication open
interruption NORMAL: -
Open detection/ERROR or NORMAL
Normal
ERROR: Momentary
Yaw rate sensor open
Yaw Rate Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal
ERROR: Momentary
Acceleration sensor open
Deceleration Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal
ERROR: Momentary
Steering angle sensor open

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Steering Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal
Master cylinder pressure sensor ERROR: Momentary
Master Cylinder
open detection/ERROR or interruption NORMAL: -
Open
NORMAL Normal
IG Voltage Value IG voltage value decrease ERROR: Decrease
-
Decreased detection/ERROR or NORMAL NORMAL: Normal
IG Voltage Value IG voltage value increase ERROR: Increase
-
Increased detection/ERROR or NORMAL NORMAL: Normal
ERROR: Momentary
FR Speed Sensor FR speed sensor voltage open
interruption NORMAL: -
Voltage Open detection/ERROR or NORMAL
Normal
ERROR: Momentary
FL Speed Sensor FL speed sensor voltage open
interruption NORMAL: -
Voltage Open detection/ERROR or NORMAL
Normal
ERROR: Momentary
RR Speed Sensor RR speed sensor voltage open
interruption NORMAL: -
Voltage Open detection/ERROR or NORMAL
Normal
ERROR: Momentary
RL Speed Sensor RL speed sensor voltage open
interruption NORMAL: -
Voltage Open detection/ERROR or NORMAL
Normal
Master cylinder pressure sensor
M/C Pressure Sensor ERROR: Malfunction
noise detection/ERROR or -
Noise NORMAL: Normal
NORMAL
Brake pedal load sensing switch ERROR: Momentary
Brake Pedal Switch
open detection/ERROR or interruption NORMAL: -
Open
NORMAL Normal
ERROR: Momentary
Yaw Rate Sensor Yaw rate sensor voltage open
interruption NORMAL: -
Voltage Open detection/ERROR or NORMAL
Normal
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EFI Communication EFI communication invalid ERROR: Invalid

-
Invalid detection/ERROR or NORMAL NORMAL: Normal

f. While observing the screen, gently jiggle the connectors or wire harnesses between the ECUs and
sensors, or between ECUs.

OK:

NORMAL display appears.

HINT:

The connector and/or wire harness has a momentary interruption (open circuit) if the display
changes. Repair or replace the connectors and/or wire harnesses as one of them is faulty.

CALIBRATION

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1. DESCRIPTION
 After replacing any VSC related components or performing front wheel alignment adjustment,
clear and read the sensor calibration data.
 Follow the chart below to perform calibration.

Fig. 11: Jiggling Connectors Or Wire Harnesses Between ECUs And Sensors
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

CALIBRATION CHART
Parts to be Replaced/Operation Necessary Operation
Brake actuator assembly (Skid control
Yaw rate and acceleration sensor zero point calibration
ECU)
1. Clearing zero point calibration data
Yaw rate and acceleration sensor 2. Yaw rate and acceleration sensor zero point
calibration
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1. Clearing zero point calibration data

Front wheel alignment adjustment 2. Yaw rate and acceleration sensor zero point
calibration

2. OBTAIN ZERO POINT OF YAW RATE AND ACCELERATION SENSOR (When Using
Techstream)

NOTE:  While obtaining the zero points, keep the vehicle stationary and do
not vibrate, tilt, move, or shake it. (Do not start the engine.)
 Be sure to perform this procedure on a level surface (with an
inclination of less than 1 degree).

a. Clear the zero point calibration data.

1. Turn the ignition switch off.

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2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.
4. Connect Techstream to the DLC3.
5. Turn the ignition switch on (IG).
6. Turn Techstream on.
7. Select the skid control ECU to clear the zero point calibration data using Techstream. Enter
the following menus: Chassis/ABS/VSC/TRAC/Utility/Reset Memory.
8. Turn the ignition switch off.

NOTE: If the ignition switch is turned on (IG) for more than 15 seconds
with the shift lever in the P position after the zero points of the
yaw rate and acceleration sensor have been cleared, only the
zero point of the yaw rate sensor will be stored. If the vehicle is
driven under these conditions, the skid control ECU will store
the zero point calibration for the acceleration sensor as not
being completed. The skid control ECU will then also indicate
this as a malfunction of the VSC system using the indicator
lights.

b. Perform the zero point calibration of the yaw rate and acceleration sensor.
1. Turn the ignition switch off.
2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.

NOTE: DTCs C1210 (zero point calibration of yaw rate sensor undone)
and C1336 (zero point calibration of acceleration sensor
undone) will be recorded if the shift lever is not in the P
position.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. Connect Techstream to the DLC3.

5. Turn the ignition switch on (IG).
6. Turn Techstream on.
7. Switch the skid control ECU to Test Mode using Techstream. Enter the following menus:
Chassis/ABS/VSC/TRAC/Utility/Test Mode.
8. After Test Mode has been entered, keep the vehicle stationary on a level surface for 2
seconds or more.
9. Check that the slip indicator light comes on for several seconds and then blinks in Test
Mode.

HINT:

NOTE:  The TRAC OFF indicator light remains on during Test

Mode because TRAC is prohibited.

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 If the slip indicator light does not blink, perform zero point
calibration again.
 The zero point calibration is performed only once after the
system enters Test Mode.
 Calibration cannot be performed again until the stored
data is cleared.

Fig. 12: Slip Indicator Light Blinking Pattern In Test Mode

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

10. Turn the ignition switch off and disconnect Techstream.

3. OBTAIN ZERO POINT OF YAW RATE AND ACCELERATION SENSOR (When not Using
Techstream)

NOTE:  While obtaining the zero points, keep the vehicle stationary and do
not vibrate, tilt, move, or shake it. (Do not start the engine.)
 Be sure to perform this procedure on a level surface (with an
inclination of less than 1 degree).

a. Clear the zero point calibration data.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. Turn the ignition switch off.

2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.
4. Turn the ignition switch on (IG).
5. The warning light and indicator light come on for 3 seconds to indicate that the initial check
is completed.
6. Using SST, connect and disconnect terminals TS and CG of the DLC3 4 times or more
within 8 seconds.

SST 09843-18040

7. Check that the slip indicator light comes on.

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Fig. 13: Identifying Terminals TS And CG Of DLC3
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE: If the ignition switch is turned on (IG) for more than 15 seconds
with the shift lever in the P position after the zero points of the
yaw rate and acceleration sensor have been cleared, only the
zero point of the yaw rate sensor will be stored. If the vehicle is
driven under these conditions, the skid control ECU will store
the zero point calibration for the acceleration sensor as not
being completed. The skid control ECU will then also indicate
this as a malfunction of the VSC system using the indicator
lights.

b. Perform the zero point calibration of the yaw rate and acceleration sensor.
1. Turn the ignition switch off.
2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.

NOTE: DTCs 36 (zero point calibration of yaw rate sensor undone) and
39 (zero point calibration of acceleration sensor undone) will be
recorded if the shift lever is not in the P position.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. Using SST, connect terminals TS and CG of the DLC3.

SST 09843-18040

5. Turn the ignition switch on (IG).

6. After Test Mode has been entered, keep the vehicle stationary on a level surface for 2
seconds or more.

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Fig. 14: Identifying Terminals TS And CG Of DLC3
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

7. Check that the slip indicator light comes on for several seconds and then blinks in Test
Mode.

HINT:

 The TRAC OFF indicator light remains on during Test Mode because TRAC is
prohibited.
 If the slip indicator light does not blink, perform zero point calibration again.
 The zero point calibration is performed only once after the system enters Test Mode.
 Calibration cannot be performed again until the stored data is cleared.

Fig. 15: Slip Indicator Light Blinking Pattern In Test Mode

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

8. Turn the ignition switch off and disconnect SST from the DLC3.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

TEST MODE PROCEDURE

1. WARNING LIGHT AND INDICATOR LIGHT INITIAL CHECK

a. Release the parking brake.

NOTE: Before releasing the parking brake, move the shift lever to the P
position for safety.

HINT:

When the parking brake is applied or the level of the brake fluid is low, the brake warning light
comes on.

b. When the ignition switch is turned on (IG), check that the ABS warning, brake warning, TRAC
OFF indicator, VSC OFF indicator, slip indicator and downhill assist control indicator (for 4WD)

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lights come on for approximately 3 seconds.

HINT:

 If the skid control ECU stores any DTCs, the ABS warning, brake warning, slip indicator and
downhill assist control indicator (for 4WD) lights will come on.
 For vehicles with the multi-information display, the master caution indicator light will come
on and a warning message will be displayed on the multi-information display if any of the
EBD system, BA system, or TRAC system is malfunctioning or if the ABS control or VSC
cannot be performed.
 If any of the indicators remains on or does not come on, proceed to troubleshooting for the
light circuits listed below.

TROUBLESHOOTING CHART
Trouble Area See procedure
ABS warning light circuit (Remains on) ABS WARNING LIGHT REMAINS ON
ABS warning light circuit (Does not
ABS WARNING LIGHT DOES NOT COME ON
come on)
Brake warning light circuit (Remains on) BRAKE WARNING LIGHT REMAINS ON
Brake warning light circuit (Does not BRAKE WARNING LIGHT DOES NOT COME
come on) ON
TRAC OFF indicator light circuit
TRAC OFF INDICATOR LIGHT REMAINS ON
(Remains on)
TRAC OFF indicator light circuit (Does TRAC OFF INDICATOR LIGHT DOES NOT
not come on) COME ON
VSC OFF indicator light circuit
VSC OFF INDICATOR LIGHT REMAINS ON
(Remains on)
VSC OFF indicator light circuit (Does VSC OFF INDICATOR LIGHT DOES NOT COME
not come on) ON
Slip indicator light circuit (Remains on) SLIP INDICATOR LIGHT REMAINS ON
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Slip indicator light circuit (Does not

SLIP INDICATOR LIGHT DOES NOT COME ON
come on)
Downhill assist control indicator light DOWNHILL ASSIST CONTROL INDICATOR
circuit (Remains on) LIGHT REMAINS ON
Downhill assist control indicator light DOWNHILL ASSIST CONTROL INDICATOR
circuit (Does not come on) LIGHT DOES NOT COME ON

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 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 16: Identifying ABS Warning, Brake Warning, TRAC OFF Indicator, VSC OFF
Indicator And Slip Indicator
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

2. SENSOR CHECK USING TEST MODE (SIGNAL CHECK) (When Using Techstream)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: After replacement of the brake actuator assembly and/or yaw rate and
acceleration sensor, perform zero point calibration of the yaw rate and
acceleration sensor.

HINT:

 If the ignition switch is turned from on (IG) to on (ACC) or off during Test Mode (signal check),
DTCs recorded during the sensor check will be erased.
 During Test Mode (signal check), the skid control ECU records all DTCs detected in the sensor
check. By performing Test Mode (signal check), the codes are erased if a normal condition is
confirmed. The remaining codes are the codes where an abnormality was found.
a. Procedure to enter Test Mode
1. Turn the ignition switch off.
2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.

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4. Connect Techstream to the DLC3.
5. Turn the ignition switch on (IG).
6. Turn Techstream on.
7. Switch the skid control ECU to Test Mode using Techstream. Enter the following menus:
Chassis/ABS/VSC/TRAC/Utility/Signal Check.
8. Check that the ABS warning and slip indicator lights come on for several seconds and then
blink in Test Mode.

HINT:

 The TRAC OFF indicator light remains on during Test Mode because TRAC is
prohibited.
 If the ABS warning and slip indicator lights do not blink, inspect the TS and CG
terminal circuit and ABS warning and slip indicator light circuits.

Fig. 17: Slip Indicator Light Blinking Pattern In Test Mode

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

9. Check the ABS sensors.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

Check that the ABS warning light is blinking in the Test Mode blinking pattern before
performing the ABS sensor check.

b. Lost Booster Pressure Judgement Check and Master Cylinder Pressure Sensor Zero Point
Calibration

NOTE: Preform the check in the lost booster pressure state (negative
pressure in the booster is depressurized).

1. Turn the ignition switch on (IG).

2. Check that the brake warning light comes on when depressing the brake pedal with a force
greater than 59 N (6 kgf, 13.2 lbf) for 1 second or more. (The lost booster pressure state is
judged as normal.)

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3. Start the engine depressing the brake pedal with a force greater than 59 N (6 kgf, 13.2 lbf) for
1 second or more.
4. Check that the brake warning light goes off when quickly releasing the brake pedal. (The lost
booster pressure state is judged as normal.)
5. Leave the vehicle for 1 second or more. (Master cylinder pressure sensor zero point
calibration)

NOTE:  If you slowly depress the brake pedal or depress it again,

master cylinder pressure sensor zero point calibration is
not performed normally.
 If the lost booster pressure judgement check results are
not normal, then the master cylinder pressure sensor
check will not be able to be performed.
 If recheck is performed after the engine has started, end
Test Mode, transit to Test Mode again, and release vacuum
in the booster by pumping the brake pedal prior to the
recheck.

c. Acceleration Sensor Check

1. Keep the vehicle stationary on a level surface for 1 second or more.

HINT:

The acceleration sensor check can be performed with the master cylinder pressure sensor
check below.

d. Master Cylinder Pressure Sensor Check

1. Keep the vehicle in a stationary condition and release the brake pedal for 1 second or more,
and quickly and continuously depress the brake pedal with a force greater than 98 N (10 kgf,
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

22 lbf) for 1 second.

2. Check that the ABS warning light stays on for 3 seconds.

HINT:

Confirm that the ABS warning light comes on.

 While the ABS warning light stays on, continue to depress the brake pedal with a force
of 98 N (10 kgf, 22 lbf) or more.
 The ABS warning light comes on for 3 seconds every time brake pedal operation
above is performed.
 If the master cylinder pressure sensor check is not completed, depressing the brake
pedal causes further decreases in vacuum in the brake booster, making the sensor
check difficult to complete.
 If the vacuum is insufficient, the master cylinder pressure sensor check may not be
completed. In this case, run the engine at idle to obtain sufficient vacuum.

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 If the brake pedal is strongly depressed when the vacuum is insufficient, the brake
warning light may come on in accordance with the booster pressure control. In this
case, run the engine at idle to obtain sufficient vacuum.
e. Speed Sensor Check
1. Drive the vehicle straight-ahead.

Accelerate the vehicle to a speed of 45 km/h (28 mph) or more for several seconds and check
that the ABS warning light goes off.

HINT:

The sensor check may not be completed if wheels pin occurs.

The ABS warning light blinks when the sensor check has been completed and the
brake pedal is depressed.
 The ABS warning light comes on immediately if a malfunction is detected during the
speed sensor check.
2. Stop the vehicle.

NOTE:  Before performing the speed sensor check, complete the

acceleration sensor and master cylinder pressure sensor
checks.
 The speed sensor check may not be completed if the
speed sensor check is started while turning the steering
wheel or spinning the wheels.
 After the ABS warning light goes off, if vehicle speed
exceeds 80 km/h (50 mph), a sensor check code will be
stored again. Decelerate or stop the vehicle before the
speed reaches 80 km/h (50 mph).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the sensor check has not been completed, the ABS

warning light will blink while driving and the ABS will not
operate.

HINT:

When the sensor check has been completed, the ABS warning light goes off while driving
and blinks in the Test Mode pattern while the vehicle is stationary.

3. Check the VSC sensor.

HINT:

Check that the slip indicator light is blinking in the Test Mode blinking pattern before
performing the VSC sensor check. Yaw Rate Sensor Check

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f. Yaw Rate Sensor Check
1. Keep the vehicle in a stationary condition on a level surface for 1 second or more.
2. Move the shift lever from the P position to the D position and drive the vehicle at a speed of
approximately 5 km/h (3 mph), and turn the steering wheel either to the left or right 90° or
more until the vehicle makes a 180° turn.
3. Stop the vehicle and move the shift lever to the P position. Check that the skid control buzzer
sounds for 3 seconds.

Fig. 18: Identifying Vehicle Driving Positions

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

 If the skid control buzzer sounds, the sensor check has completed normally.
 If the skid control buzzer does not sound, check the skid control buzzer circuit (See
SKID CONTROL BUZZER CIRCUIT), then perform the sensor check again.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the skid control buzzer still does not sound, the yaw rate sensor may be
malfunctioning. Check for DTCs.
 Make a 180° turn. At the end of the turn, the direction of the vehicle should be within
180° +/-5° of its start position.
 Do not allow the wheels to spin.

 Do not turn the ignition switch off while turning.

 Do not move the shift lever to the P position while turning, but changing the vehicle
speed, stopping, or driving in reverse is acceptable.
 Complete the turn within 20 seconds.

g. Downhill Assist Control Switch Check (for 4WD)

1. Push the downhill assist control switch on. Check that the downhill assist control indicator
light blinks.
2. Push the downhill assist control switch off. Check that the downhill assist control indicator
light goes off.

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h. End of Sensor Check
1. If the sensor check is completed, the ABS warning light blinks (Test Mode) when the vehicle
is stopped and goes off while the vehicle is driving.

NOTE:  When the yaw rate sensor, downhill assist control switch
(for 4WD), acceleration sensor, speed sensor, and master
cylinder pressure sensor checks are completed, the
sensor check is completed.
 If the sensor check is not completed, the ABS warning
light will blink even while the vehicle is driving and the
ABS will not operate.

Fig. 19: Downhill Assist Control Indicator Light Blinking Pattern In Test Mode
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

i. Read Sensor Check DTCs

1. Read the DTC (s) by following the tester screen.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE:  If only DTCs other than Test Mode sensor check DTCs are
displayed, repair the malfunctions and clear the DTCs.
 If Test Mode sensor check DTCs and other DTCs are
displayed or if only Test Mode sensor check DTCs are
displayed, repair the malfunctions, clear the DTCs, and
perform Test Mode inspection again.

HINT:

See "Sensor Check".

2. Turn the ignition switch off and disconnect Techstream.

j. Sensor Check DTCs

ABS sensor:

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ABS SENSOR DTC CHART
DTC
Detection Item Trouble Area
Code
 Front speed sensor RH
C1271 Low Output Signal of Front Speed Sensor RH  Sensor installation
 Speed sensor rotor
 Front speed sensor LH
C1272 Low Output Signal of Front Speed Sensor LH  Sensor installation
 Speed sensor rotor
 Rear speed sensor RH
C1273 Low Output Signal of Rear Speed Sensor RH  Sensor installation
 Speed sensor rotor
 Rear speed sensor LH
C1274 Low Output Signal of Rear Speed Sensor LH  Sensor installation
 Speed sensor rotor
Abnormal Change in Output Signal of Front Speed
C1275 Speed sensor rotor
Sensor RH
Abnormal Change in Output Signal of Front Speed
C1276 Speed sensor rotor
Sensor LH
Abnormal Change in Output Signal of Rear Speed
C1277 Speed sensor rotor
Sensor RH
Abnormal Change in Output Signal of Rear Speed
C1278 Speed sensor rotor
Sensor LH

C1279 Acceleration Sensor Output Voltage Malfunction  Sensor installation

 Yaw rate and acceleration
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

sensor
 Stop light switch
Master Cylinder Pressure Sensor Output  Brake pedal load sensing
C1281 switch
Malfunction
 Master cylinder pressure
sensor

VSC sensor:

VSC SENSOR DTC CHART

DTC Code Detection Item Trouble Area
C0371 Yaw Rate Sensor Yaw rate and acceleration sensor
(1)
C1379 ( ) Downhill Assist Control Switch Malfunction Downhill assist control switch
(1) for 4WD

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HINT:

The codes in this table are output only in Test Mode (signal check).

3. SENSOR CHECK USING TEST MODE (SIGNAL CHECK) (When not Using Techstream)

NOTE: After replacement of the brake actuator assembly and/or yaw rate and
acceleration sensor, perform zero point calibration of the yaw rate and
acceleration sensor.

HINT:

 If the ignition switch is turned from on (IG) to on (ACC) or off during Test Mode (signal check),
DTCs recorded during the sensor check will be erased.
 During Test Mode (signal check), the skid control ECU records all DTCs detected in the sensor
check. By performing Test Mode (signal check), the codes are erased if a normal condition is
confirmed. The remaining codes are the codes where an abnormality was found.
a. Procedure to enter Test Mode
1. Turn the ignition switch off.
2. Check that the steering wheel is in the straight-ahead position.
3. Check that the shift lever is in the P position.
4. Using SST, connect terminals TS and CG of the DLC3.

SST 09843-18040

5. Turn the ignition switch on (IG).

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 20: Identifying Terminals TS And CG Of DLC3

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

6. Check that the ABS warning and slip indicator lights come on for several seconds and then
blink in Test Mode.

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HINT:

 The TRAC OFF indicator light remains on during Test Mode because TRAC is
prohibited.
 If the ABS warning and slip indicator lights do not blink, inspect the TS and CG
terminal circuit and ABS warning and slip indicator light circuits.

Fig. 21: Slip Indicator Light Blinking Pattern In Test Mode

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

7. Check the ABS sensors.

HINT:

Check that the ABS warning light is blinking in the Test Mode blinking pattern before
performing the ABS sensor check.

b. Lost Booster Pressure Judgement Check and Master Cylinder Pressure Sensor Zero Point
Calibration

NOTE: Preform the check in the lost booster pressure state (negative
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

pressure in the booster is depressurized).

1. Turn the ignition switch on (IG).

2. Check that the brake warning light comes on when depressing the brake pedal with a force
greater than 59 N (6 kgf, 13.2 lbf) for 1 second or more. (The lost booster pressure state is
judged as normal.)
3. Start the engine depressing the brake pedal with a force greater than 59 N (6 kgf, 13.2 lbf) for
1 second or more.
4. Check that the brake warning light goes off when quickly releasing the brake pedal. (The lost
booster pressure state is judged as normal.)
5. Leave the vehicle for 1 second or more. (Master cylinder pressure sensor zero point
calibration)

NOTE:  If you slowly depress the brake pedal or depress it again,

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master cylinder pressure sensor zero point calibration is
not performed normally.
 If the lost booster pressure judgement check results are
not normal, then the master cylinder pressure sensor
check will not be able to be performed.
 If recheck is performed after the engine has started, end
Test Mode, transit to Test Mode again, and release vacuum
in the booster by pumping the brake pedal prior to the
recheck.

c. Acceleration Sensor Check

1. Keep the vehicle stationary on a level surface for 1 second or more.

HINT:

The acceleration sensor check can be performed with the master cylinder pressure sensor
check below.

d. Master Cylinder Pressure Sensor Check

1. Keep the vehicle in a stationary condition and release the brake pedal for 1 second or more,
and quickly and continuously depress the brake pedal with a force greater than 98 N (10 kgf,
22 lbf) for 1 second.
2. Check that the ABS warning light stays on for 3 seconds.

HINT:

 Confirm that the ABS warning light comes on.

 While the ABS warning light stays on, continue to depress the brake pedal with a force
of 98 N (10 kgf, 22 lbf) or more.
 The ABS warning light comes on for 3 seconds every time brake pedal operation
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

above is performed.
 If the master cylinder pressure sensor check is not completed, depressing the brake
pedal causes further decreases in vacuum in the brake booster, making the sensor
check difficult to complete.
 If the vacuum is insufficient, the master cylinder pressure sensor check may not be
completed. In this case, run the engine at idle to obtain sufficient vacuum.
 If the brake pedal is strongly depressed when the vacuum is insufficient, the brake
warning light may come on in accordance with the booster pressure control. In this
case, run the engine at idle to obtain sufficient vacuum.
e. Speed Sensor Check
1. Drive the vehicle straight-ahead. Accelerate the vehicle to a speed of 45 km/h (28 mph) or
more for several seconds and check that the ABS warning light goes off.

HINT:

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The sensor check may not be completed if wheelspin occurs.
 The ABS warning light blinks when the sensor check has been completed and the
brake pedal is depressed.
 The ABS warning light comes on immediately if a malfunction is detected during the
speed sensor check.
2. Stop the vehicle.

NOTE:  Before performing the speed sensor check, complete the

acceleration sensor and master cylinder pressure sensor
checks.
 The speed sensor check may not be completed if the
speed sensor check is started while turning the steering
wheel or spinning the wheels.
 After the ABS warning light goes off, if vehicle speed
exceeds 80 km/h (50 mph), a sensor check code will be
stored again. Decelerate or stop the vehicle before the
speed reaches 80 km/h (50 mph).
 If the sensor check has not been completed, the ABS
warning light will blink while driving and the ABS will not
operate.

HINT:

When the sensor check has been completed, the ABS warning light goes off while driving
and blinks in the Test Mode pattern while the vehicle is stationary.

3. Check the VSC sensor.

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Check that the slip indicator light is blinking in the Test Mode blinking pattern before
performing the VSC sensor check.

f. Yaw Rate Sensor Check

1. Keep the vehicle in a stationary condition on a level surface for 1 second or more.
2. Move the shift lever from the P position to the D position and drive the vehicle at a speed of
approximately 5 km/h (3 mph), and turn the steering wheel either to the left or right 90° or
more until the vehicle makes a 180° turn.
3. Stop the vehicle and move the shift lever to the P position. Check that the skid control buzzer
sounds for 3 seconds.

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Fig. 22: Identifying Vehicle Driving Positions
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

 If the skid control buzzer sounds, the sensor check has completed normally.
 If the skid control buzzer does not sound, check the skid control buzzer circuit (See
SKID CONTROL BUZZER CIRCUIT), then perform the sensor check again.
 If the skid control buzzer still does not sound, the yaw rate sensor may be
malfunctioning. Check for DTCs.
 Make a 180° turn. At the end of the turn, the direction of the vehicle should be within
180° +/-5° of its start position.
 Do not allow the wheels to spin.

 Do not turn the ignition switch off while turning.

 Do not move the shift lever to the P position while turning, but changing the vehicle
speed, stopping, or driving in reverse is acceptable.
 Complete the turn within 20 seconds.

g. Downhill Assist Control Switch Check (for 4WD)

1. Push the downhill assist control switch on. Check that the downhill assist control indicator
light blinks.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

2. Push the downhill assist control switch off. Check that the downhill assist control indicator
light goes off.
h. End of Sensor Check
1. If the sensor check is completed, the ABS warning light blinks (Test Mode) when the vehicle
is stopped and goes off while the vehicle is driving.

NOTE:  When the yaw rate sensor, downhill assist control switch (for
4WD), acceleration sensor, speed sensor, and master cylinder
pressure sensor checks are completed, the sensor check is
completed.
 If the sensor check is not completed, the ABS warning light will
blink even while the vehicle is driving and the ABS will not
operate.

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Fig. 23: Downhill Assist Control Indicator Light Blinking Pattern In Test Mode
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

i. Read Sensor Check DTCs

1. Using SST, connect terminals TC and CG of the DLC3.

SST 09843-18040

2. Count the number of blinks of the ABS warning and slip indicator lights.

Fig. 24: Identifying Terminals TC, TS And CG Of DLC3

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 25: Blinking Pattern Of ABS Warning And Slip Indicator Lights
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE:  If only DTCs other than Test Mode sensor check DTCs are
displayed, repair the malfunctions and clear the DTCs.
 If Test Mode sensor check DTCs and other DTCs are
displayed or if only Test Mode sensor check DTCs are
displayed, repair the malfunctions, clear the DTCs, and
perform Test Mode inspection again.

HINT:

If more than 1 malfunction is detected at the same time, the lowest numbered code will
be displayed first.
 See "Sensor Check".

3. After performing the check, disconnect SST from terminals TS and CG, and TC and CG of
the DLC3 and turn the ignition switch off.
4. Turn the ignition switch on (IG).

HINT:

If the ignition switch is not turned on (IG) after SST is removed from the DLC3, the
previous Test Mode will continue.
 If the ignition switch is turned on (IG) with terminals TS and CG connected, the
previous Test Mode will continue.
j. Sensor Check DTCs

ABS sensor:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS SENSOR DTC CHART

DTC
Detection Item Trouble Area
Code
 Front speed sensor RH
71 Low Output Signal of Front Speed Sensor RH  Sensor installation
 Speed sensor rotor
 Front speed sensor LH
72 Low Output Signal of Front Speed Sensor LH  Sensor installation
 Speed sensor rotor
 Rear speed sensor
73 Low Output Signal of Rear Speed Sensor RH  RH Sensor installation
 Speed sensor rotor
 Rear speed sensor LH

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74 Low Output Signal of Rear Speed Sensor LH  Sensor installation
 Speed sensor rotor
Abnormal Change in Output Signal of Front Speed
75 Speed sensor rotor
Sensor RH
Abnormal Change in Output Signal of Front Speed
76 Speed sensor rotor
Sensor LH
Abnormal Change in Output Signal of Rear Speed
77 Speed sensor rotor
Sensor RH
Abnormal Change in Output Signal of Rear Speed
78 Speed sensor rotor
Sensor LH
 Sensor installation
79 Acceleration Sensor Output Voltage Malfunction  Yaw rate and acceleration
sensor
 Stop light switch
 Brake pedal load sensing
81 Master Cylinder Pressure Sensor Output Malfunction switch
 Master cylinder pressure
sensor

VSC sensor:

VSC SENSOR DTC CHART

DTC Code Detection Item Trouble Area
71 Yaw Rate Sensor Yaw rate and acceleration sensor
(1)
74 ( ) Downhill Assist Control Switch Malfunction Downhill assist control switch
(1) for 4WD
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

The codes in this table are output only in Test Mode (signal check).

4. VSC OFF SWITCH CHECK

a. Push the VSC OFF switch on.
b. Check that the TRAC OFF indicator light goes off.

PROBLEM SYMPTOMS TABLE

Use the table below to help determine the cause of a problem. The likely causes of the problem are indicated in
descending order. Check each suspected area in order. Repair or replace faulty parts or perform adjustments as
necessary.

NOTE: When replacing any of the brake actuator assembly or sensors, etc., turn the

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ignition switch off.

HINT:

 Inspect the fuses and relays before investigating the suspected areas shown in the table below.
 Inspect each suspected area in order for the corresponding symptom.

Vehicle Stability Control System:

VEHICLE STABILITY CONTROL SYSTEM PROBLEM SYMPTOMS CHART

Symptom Suspected Area Refer to
Check for DTCs again and make
sure that the normal system code is DTC CHECK/CLEAR
output.
IG power source circuit (Low DTC C1241 LOW POWER SUPPLY
power supply voltage malfunction) VOLTAGE MALFUNCTION
IG power source circuit (High DTC C1417 HIGH POWER SUPPLY
power supply voltage malfunction) VOLTAGE MALFUNCTION
DTC C1413 FRONT SPEED SENSOR RH
Front speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1414
malfunction) FRONT SPEED SENSOR LH OUTPUT
MALFUNCTION
DTC C1415 REAR SPEED SENSOR RH
Rear speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1416
malfunction) REAR SPEED SENSOR LH OUTPUT
MALFUNCTION
DTC C1405 OPEN OR SHORT IN FRONT
Front speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1406
short malfunction) OPEN OR SHORT IN FRONT SPEED
SENSOR LH CIRCUIT
ABS, BA and/or
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

EBD does not DTC C1407 OPEN OR SHORT IN REAR

operate Rear speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1408
short malfunction) OPEN OR SHORT IN REAR SPEED
SENSOR LH CIRCUIT
DTC C1401 FRONT SPEED SENSOR RH
Front speed sensor circuit
MALFUNCTION; DTC C1402 FRONT
(Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
DTC C1403 REAR SPEED SENSOR RH
Rear speed sensor circuit
MALFUNCTION; DTC C1404 REAR
(Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
Check the brake actuator assembly
with Techstream. (Check brake
actuator assembly operation using
ON-VEHICLE INSPECTION
the Active Test function.) If
abnormal, check the hydraulic
circuit for leaks.

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If the symptom still occurs even
after the circuits listed above have
been inspected and proved to be REMOVAL
normal, replace the brake actuator
assembly (skid control ECU).
Check for DTCs again and make
sure that the normal system code is DTC CHECK/CLEAR
output.
DTC C1413 FRONT SPEED SENSOR RH
Front speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1414
malfunction) FRONT SPEED SENSOR LH OUTPUT
MALFUNCTION
DTC C1415 REAR SPEED SENSOR RH
Rear speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1416
malfunction) REAR SPEED SENSOR LH OUTPUT
MALFUNCTION
ABS, BA and/or DTC C1405 OPEN OR SHORT IN FRONT
EBD does not Front speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1406
operate efficiently short malfunction) OPEN OR SHORT IN FRONT SPEED
SENSOR LH CIRCUIT
DTC C1407 OPEN OR SHORT IN REAR
Rear speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1408
short malfunction) OPEN OR SHORT IN REAR SPEED
SENSOR LH CIRCUIT
DTC C1401 FRONT SPEED SENSOR RH
Front speed sensor circuit
MALFUNCTION; DTC C1402 FRONT
(Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
DTC C1403 REAR SPEED SENSOR RH
Rear speed sensor circuit
MALFUNCTION; DTC C1404 REAR
(Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Stop light switch circuit (Open or DTC C1425 OPEN IN STOP LIGHT
short malfunction) SWITCH CIRCUIT
Stop light switch circuit (Off stuck DTC C1426 STOP LIGHT SWITCH OFF
malfunction) STUCK MALFUNCTION
Check the brake actuator assembly
with Techstream. (Check brake
actuator assembly operation using
ON-VEHICLE INSPECTION
the Active Test function.) If
abnormal, check the hydraulic
circuit for leaks.
If the symptom still occurs even
after the circuits listed above have
been inspected and proved to be REMOVAL
normal, replace the brake actuator
assembly (skid control ECU).
Check for DTCs again and make

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sure that the normal system code is DTC CHECK/CLEAR
output.
ABS sensor DTC TC and CG terminal circuit TC AND CG TERMINAL CIRCUIT
check cannot be If the symptom still occurs even
done after the circuits listed above have
been inspected and proved to be REMOVAL
normal, replace the brake actuator
assembly (skid control ECU).
ABS warning light ABS warning light circuit ABS WARNING LIGHT REMAINS ON
abnormal Brake actuator assembly (Skid
(Remains on) REMOVAL
control ECU)
ABS WARNING LIGHT DOES NOT COME
ABS warning light ABS warning light circuit ON
abnormal (Does
not come on) Brake actuator assembly (Skid
REMOVAL
control ECU)
Brake warning Brake warning light circuit BRAKE WARNING LIGHT REMAINS ON
light abnormal Brake actuator assembly (Skid
(Remains on) REMOVAL
control ECU)
Brake warning BRAKE WARNING LIGHT DOES NOT
Brake warning light circuit
light abnormal COME ON
(Does not come Brake actuator assembly (Skid
on) REMOVAL
control ECU)
Check for DTCs again and make
sure that the normal system code is DTC CHECK/CLEAR
output.
IG power source circuit (Low DTC C1241 LOW POWER SUPPLY
power supply voltage malfunction) VOLTAGE MALFUNCTION
IG power source circuit (High DTC C1417 HIGH POWER SUPPLY
power supply voltage malfunction) VOLTAGE MALFUNCTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Check the hydraulic circuit for

-
leaks.
DTC C1413 FRONT SPEED SENSOR RH
Front speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1414
malfunction) FRONT SPEED SENSOR LH OUTPUT
MALFUNCTION
DTC C1415 REAR SPEED SENSOR RH
Rear speed sensor circuit (Output OUTPUT MALFUNCTION; DTC C1416
malfunction) REAR SPEED SENSOR LH OUTPUT
MALFUNCTION
DTC C1405 OPEN OR SHORT IN FRONT
Front speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1406
short malfunction) OPEN OR SHORT IN FRONT SPEED
SENSOR LH CIRCUIT
DTC C1407 OPEN OR SHORT IN REAR
Rear speed sensor circuit (Open or SPEED SENSOR RH CIRCUIT; DTC C1408

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short malfunction) OPEN OR SHORT IN REAR SPEED
SENSOR LH CIRCUIT
DTC C1401 FRONT SPEED SENSOR RH
Front speed sensor circuit
MALFUNCTION; DTC C1402 FRONT
(Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
DTC C1403 REAR SPEED SENSOR RH
VSC and/or Rear speed sensor circuit
MALFUNCTION; DTC C1404 REAR
TRAC does not (Comparison malfunction)
SPEED SENSOR LH MALFUNCTION
operate
DTC C1210 ZERO POINT CALIBRATION
Yaw rate and acceleration sensor OF YAW RATE SENSOR UNDONE; DTC
circuit (Zero point malfunction) C1336 ZERO POINT CALIBRATION OF
ACCELERATION SENSOR UNDONE
DTC C1381 ACCELERATION SENSOR
Yaw rate and acceleration sensor
POWER SUPPLY VOLTAGE
circuit (Power supply malfunction)
MALFUNCTION
Acceleration sensor circuit DTC C1420 ACCELERATION SENSOR
(Comparison malfunction) MALFUNCTION
Yaw rate sensor circuit DTC C1436 YAW RATE SENSOR
(Comparison malfunction) MALFUNCTION
DTC C1232 ACCELERATION SENSOR
STUCK MALFUNCTION; DTC C1243
Yaw rate and acceleration sensor
ACCELERATION SENSOR STUCK
circuit (Stuck or output
MALFUNCTION; DTC C1245
malfunction)
ACCELERATION SENSOR OUTPUT
MALFUNCTION
DTC C1442 INVALID DATA RECEIVED
Yaw rate and acceleration sensor
FROM ACCELERATION SENSOR; DTC
circuit (Continuous invalidation
C1443 INVALID DATA RECEIVED FROM
malfunction)
YAW RATE SENSOR
DTC C1419 ACCELERATION SENSOR
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Yaw rate and acceleration sensor INTERNAL CIRCUIT; DTC C1435 YAW
circuit (Internal malfunction) RATE SENSOR INTERNAL CIRCUIT
Steering angle sensor circuit (Zero DTC C1290 STEERING ANGLE SENSOR
point malfunction) ZERO POINT MALFUNCTION
DTC C1439 STEERING ANGLE SENSOR
Steering angle sensor circuit (Zero INITIALIZATION INCOMPLETE; DTC
point initialization or calibration C1445 VEHICLE DRIVEN WITH
malfunction) STEERING ANGLE SENSOR NOT
INITIALIZED
DTC C1432 STEERING ANGLE SENSOR
Steering angle sensor circuit (Power
POWER SOURCE VOLTAGE
supply malfunction)
MALFUNCTION
Steering angle sensor circuit DTC C1434 STEERING ANGLE SENSOR
(Output malfunction) OUTPUT MALFUNCTION
Steering angle sensor circuit DTC C1433 STEERING ANGLE SENSOR

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(Internal malfunction) INTERNAL CIRCUIT
If the symptom still occurs even
after the circuits listed above have
been inspected and proved to be REMOVAL
normal, replace the brake actuator
assembly (skid control ECU).
Check for DTCs again and make
sure that the normal system code is DTC CHECK/CLEAR
output.
VSC sensor DTC TC and CG terminal circuit TC AND CG TERMINAL CIRCUIT
check cannot be If the symptom still occurs even
done after the circuits listed above have
been inspected and proved to be REMOVAL
normal, replace the brake actuator
assembly (skid control ECU).
VSC OFF VSC OFF INDICATOR LIGHT REMAINS
VSC OFF indicator light circuit
indicator light ON
abnormal Brake actuator assembly (Skid
(Remains on) REMOVAL
control ECU)
VSC OFF VSC OFF INDICATOR LIGHT DOES NOT
VSC OFF indicator light circuit
indicator light COME ON
abnormal (Does Brake actuator assembly (Skid
not come on) REMOVAL
control ECU)
TRAC OFF TRAC OFF INDICATOR LIGHT REMAINS
TRAC OFF indicator light circuit
indicator light ON
abnormal Brake actuator assembly (Skid
(Remains on) REMOVAL
control ECU)
TRAC OFF INDICATOR LIGHT DOES
TRAC OFF TRAC OFF indicator light circuit
NOT COME ON
indicator light
abnormal (Does Brake actuator assembly (Skid REMOVAL
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

not come on) control ECU)

Slip indicator light Slip indicator light circuit SLIP INDICATOR LIGHT REMAINS ON
abnormal Brake actuator assembly (Skid
(Remains on) REMOVAL
control ECU)
SLIP INDICATOR LIGHT DOES NOT
Slip indicator light Slip indicator light circuit COME ON
abnormal (Does
not come on) Brake actuator assembly (Skid
REMOVAL
control ECU)
DTC C1379 DOWNHILL ASSIST
Downhill assist control switch
CONTROL SWITCH MALFUNCTION
Downhill assist circuit
(TEST MODE DTC)
control indicator
light abnormal Downhill assist control indicator DOWNHILL ASSIST CONTROL
light circuit INDICATOR LIGHT REMAINS ON
(Remains on) ((1))
Brake actuator assembly (Skid
REMOVAL
control ECU)

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DTC C1379 DOWNHILL ASSIST
Downhill assist control switch
CONTROL SWITCH MALFUNCTION
Downhill assist circuit
(TEST MODE DTC)
control indicator
light abnormal DOWNHILL ASSIST CONTROL
Downhill assist control indicator
(Does not come INDICATOR LIGHT DOES NOT COME
light circuit
ON
on) ((1))
Brake actuator assembly (Skid
REMOVAL
control ECU)
TS and CG terminal circuit TS AND CG TERMINAL CIRCUIT
Sensor check
cannot be done Brake actuator assembly (Skid
REMOVAL
control ECU)
Skid control buzzer circuit SKID CONTROL BUZZER CIRCUIT
Skid control
buzzer abnormal Brake actuator assembly (Skid
REMOVAL
control ECU)
(1) for 4WD

TERMINALS OF ECU

1. TERMINALS OF ECU
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 26: Identifying Skid Control ECU Connector Terminals

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

ECU CONNECTOR TERMINAL DESCRIPTION REFERENCE

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Terminal No. (Symbols) Terminal Description
1 (GND1) Skid control ECU ground
2 (STP) Stop light switch input
4 (RL-) Rear wheel speed LH (-) signal input
5 (RL+) Rear wheel speed LH (+) power supply output
6 (FR-) Front wheel speed RH (-) signal input
7 (FR+) Front wheel speed RH (+) power supply output
11 (SP1) Speed signal output for speedometer
12 (+BS) Solenoid relay power supply
13 (GND2) Pump motor ground
14 (CAN L) CAN communication line L
16 (RR-) Rear wheel speed RH (-) signal input
17 (RR+) Rear wheel speed RH (+) power supply output
18 (FL-) Front wheel speed LH (-) signal input
19 (FL+) Front wheel speed LH (+) power supply output
21 (BZ) Skid control buzzer output
22 (STP2) Stop light control relay input
24 (+BM) Motor relay power supply
25 (CANH) CAN communication line H
26 (HDCS) ((1)) Downhill assist control switch input
27 (FSW+) Brake pedal load sensing switch input
29 (PKB) Parking brake switch input
30 (CSW) VSC OFF switch input
31 (STPO) Stop light control relay output
33 (TS) Sensor check input
34 (IG1) ECU power supply
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

(1) for 4WD

2. TERMINAL INSPECTION
a. Disconnect the connectors and measure the voltage or resistance on the wire harness side.

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Fig. 27: Identifying Skid Control A24 ECU Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

Voltage cannot be measured with the connectors connected to the skid control ECU as the
connectors are watertight.

Standard:

VOLTAGE AND RESISTANCE SPECIFICATION

Terminal No. Wiring Terminal Specified
Condition
(Symbols) Color Description Condition
W-B -
A24-1 (GND1) - Skid control ECU
Body Always Below 1 ohms
Body ground ground
ground
Stop light switch ON -->
A24-2 (STP) - L - Body Stop light switch OFF 8 to 14 V -->
Body ground ground input (Brake pedal depressed -- Below 1.5 V
> released)
A24-12 (+BS) - R - Body Solenoid relay
Always 11 to 14 V
Body ground ground power supply
W-B -
A24-13 (GND2) -
Body Pump motor ground Always Below 1 ohms
Body ground
ground
A24-21 (BZ) - Y - Body Skid control buzzer Ignition switch on (IG),
6 to 10 V
Body ground ground output buzzer not sounding

Stop light switch ON -->

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OFF
A24-22 (STP2) - L - Body Stop light control 8 to 14 V -->
(Brake pedal depressed --
Body ground ground relay input Below 1.5 V
> released)
A24-24 (+BM) - B - Body Motor relay power
Always 11 to 14 V
Body ground ground supply
A24-26 (HDCS) Downhill assist control
W - Body Downhill assist Below 1 ohms-->
((1)) - Body ground control switch input
switch is pushed in -->
10kohms or higher
ground released
Brake pedal load sensing
A24-27 (FSW+) - GR - Body Brake pedal load switch OFF --> ON 950 to 1050 ohms -
Body ground ground sensing switch input (Brake pedal depressed -- -> 203 to 223 ohms
> released)
Ignition switch on (IG),
A24-29 (PKB) - BR - Body Parking brake Below 1 ohms-->
parking brake switch
Body ground ground switch input 10kohms or higher
OFF --> ON

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A24-30 (CSW) - G - Body VSC OFF switch VSC OFF switch held Below 25 ohms -->
Body ground ground input ON --> OFF (Released) 10kohms or higher
A24-31 (STPO) - P - Body Stop light control
Ignition switch on (IG) 11 to 14 V
Body ground ground relay output
A24-34 (IG1) - 0 - Body
ECU power supply Ignition switch on (IG) 11 to 14 V
Body ground ground
(1) for 4WD

DIAGNOSIS SYSTEM

1. DESCRIPTION

When troubleshooting a vehicle with the diagnosis system, the only difference from the usual
troubleshooting procedure is connecting Techstream to the vehicle and reading various data output from
the vehicle's skid control ECU.

The skid control ECU records DTCs when the computer detects a malfunction in the computer itself or in
its circuits.

To check the DTCs, connect Techstream to the DLC3 on the vehicle. Techstream enables you to erase the
DTCs, activate the various actuators, and check the Freeze Frame Data and Data List.

a. Check the battery voltage.

Standard voltage:

11 to 14 V

If the voltage is below 11 V, recharge the battery before proceeding to the next step.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Check the DLC3 (See HOW TO TROUBLESHOOT ECU CONTROLLED SYSTEMS ).

2. DIAGNOSIS
a. If the skid control ECU detects a malfunction, the ABS warning, brake warning, slip indicator, and
downhill assist control indicator (for 4WD) lights will come on in order to warn the driver. For
vehicles with the multi-information display, the master caution indicator light will come on and a
warning message will be displayed on the multi-information display if any of the EBD system, BA
system, or TRAC system is malfunctioning or if the ABS control or VSC cannot be performed.

The table below indicates which lights will come on when there is a malfunction in a particular
function.

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 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 28: Identifying ABS Warning, Brake Warning, Slip Indicator And Downhill Assist
Control Indicator
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

TROUBLESHOOTING CHART
Downhill
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

assist Hill-start Skid

Item/Trouble control
ABS EBD BA TRAC VSC assist control
Area (1)
( ) control ECU
ABS warning
o o o - - - - o
light
Brake
- o - - - - - o
warning light
Slip indicator
o o o o o o o o
light
• • • • • • • •
Downhill (Downhill (Downhill (Downhill (Downhill (Downhill (Downhill (Downhill (Downhil
assist control assist assist assist assist assist assist assist assist
indicator light control control control control control control control control
C1) switch switch switch switch switch switch switch switch
ON) ON) ON) ON) ON) ON) ON) ON)

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Master
caution
indicator light o o o o o o o o
((2))
Multi-
information o o o - - o o o
display ( )(2)

(1) for 4WD

(2) Models with multi-information display

o: Light or display ON
•: Light ON (Blinking)
-: Light or display OFF

HINT:

 The DTCs are simultaneously stored in the memory.

The DTCs can be read by connecting SST between terminals TC and CG of the DLC3 and
observing the blinking pattern of the ABS warning and slip indicator lights, or by connecting
Techstream (See DTC CHECK/CLEAR).

 This system has a Test Mode (signal check) function.

The DTCs can be read by connecting SST between terminals TS and CG of the DLC3 and
observing the blinking pattern of the ABS warning and slip indicator lights, or by connecting
Techstream (See TEST MODE PROCEDURE).

3. WARNING LIGHT AND INDICATOR LIGHT INITIAL CHECK

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Release the parking brake.

NOTE: When releasing the parking brake, move the shift lever to the P
position for safety.

HINT:

When the parking brake is applied or the level of the brake fluid is low, the brake warning light
comes on.

b. When the ignition switch is turned on (IG), check that the ABS warning, brake warning, TRAC
OFF indicator, VSC OFF indicator, slip indicator and downhill assist control indicator (for 4WD)
lights come on for approximately 3 seconds.

HINT:

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If the warning light and indicator light check result is not normal, proceed to troubleshooting for
the ABS warning, brake warning, TRAC OFF indicator, VSC OFF indicator, slip indicator and
downhill assist control indicator (for 4WD) light circuits. If the indicator remains on or does not
come on, proceed to troubleshooting for the light circuits listed below.

TROUBLESHOOTING CHART
Trouble Area See procedure
ABS warning light circuit (Remains on) ABS WARNING LIGHT REMAINS ON
ABS warning light circuit (Does not
ABS WARNING LIGHT DOES NOT COME ON
come on)
Brake warning light circuit (Remains on) BRAKE WARNING LIGHT REMAINS ON
Brake warning light circuit (Does not BRAKE WARNING LIGHT DOES NOT COME
come on) ON
TRAC OFF indicator light circuit
TRAC OFF INDICATOR LIGHT REMAINS ON
(Remains on)
TRAC OFF indicator light circuit (Does TRAC OFF INDICATOR LIGHT DOES NOT
not come on) COME ON
VSC OFF indicator light circuit
VSC OFF INDICATOR LIGHT REMAINS ON
(Remains on)
VSC OFF indicator light circuit (Does VSC OFF INDICATOR LIGHT DOES NOT COME
not come on) ON
Slip indicator light circuit (Remains on) SLIP INDICATOR LIGHT REMAINS ON
Slip indicator light circuit (Does not
SLIP INDICATOR LIGHT DOES NOT COME ON
come on)
Downhill assist control indicator light DOWNHILL ASSIST CONTROL INDICATOR
circuit (Remains on) LIGHT REMAINS ON
Downhill assist control indicator light DOWNHILL ASSIST CONTROL INDICATOR
circuit (Does not come on) LIGHT DOES NOT COME ON
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 29: Identifying ABS Warning, Brake Warning, TRAC OFF Indicator, VSC OFF Indicator
And Slip Indicator
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

4. SYMPTOM SIMULATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

The most difficult case in troubleshooting is when no symptoms occur. In such cases, a thorough
customer problem analysis must be carried out. Then the same or similar conditions and environment in
which the problem occurred in the customer's vehicle should be reproduced. No matter how experienced
or skilled a technician may be, if he/she proceeds to troubleshooting without confirming the problem
symptoms, he/she will likely overlook something important and make a wrong guess at some points in the
repair operation. This leads to a standstill in troubleshooting.

a. Vibration method: When vibration seems to be the major cause.

HINT:

Perform the simulation method only during the primary check period (for approximately 6 seconds
after the ignition switch is turned on (IG)).

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1. Slightly vibrate the part of the sensor considered to be the problem cause with your fingers
and check whether the malfunction occurs.
2. Slightly shake the connector vertically and horizontally.

HINT:

Shaking the relays too strongly may result in open relays.

3. Slightly shake the wire harness vertically and horizontally. The connector joint and fulcrum
of the vibration are the major areas to be checked thoroughly.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 30: Shaking Connector And Wire Harness
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC CHECK/CLEAR

1. DTC CHECK/CLEAR (When Using Techstream)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Check for DTCs.

1. Connect Techstream to the DLC3.
2. Turn the ignition switch on (IG).
3. Turn Techstream on.
4. Read the DTCs following the prompts on the tester screen. Enter the following menus:
Chassis/ABS/VSC/TRAC/Trouble Codes.
5. Check the details of the DTCs (See DIAGNOSTIC TROUBLE CODE CHART).
b. Clear the DTCs.
1. Connect Techstream to the DLC3.
2. Turn the ignition switch on (IG).
3. Turn Techstream on.
4. Operate Techstream to clear the codes. Enter the following menus:
Chassis/ABS/VSC/TRAC/Trouble Codes.

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5. According to the display on the tester, select the trouble code data display with the clear
button.
2. DTC CHECK/CLEAR (When not Using Techstream)
a. Check for DTCs.
1. Using SST, connect terminals TC and CG of the DLC3.

SST 09843-18040

2. Turn the ignition switch on (IG).

3. Observe the blinking pattern of the ABS warning and slip indicator lights in order to identify
the DTC.

Fig. 31: Identifying Terminals TC And CG Of DLC3

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

If no code appears, inspect the TC and CG terminal circuit, and ABS warning and slip
indicator light circuits.

TROUBLESHOOTING CHART
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Trouble Area See procedure

TC and CG terminal circuit TC AND CG TERMINAL CIRCUIT
ABS warning light circuit (Remains on) ABS WARNING LIGHT REMAINS ON
ABS warning light circuit (Does not ABS WARNING LIGHT DOES NOT COME
come on) ON
Slip indicator light circuit (Remains on) SLIP INDICATOR LIGHT REMAINS ON
Slip indicator light circuit (Does not SLIP INDICATOR LIGHT DOES NOT
come on) COME ON

4. As an example, the illustration below shows the blinking patterns of the normal system code
and trouble codes 11 and 21 for the ABS warning and slip indicator lights.

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Fig. 32: Blinking Patterns Of Normal System Code And Trouble Codes 11 And 21 For
ABS Warning And Slip Indicator Lights
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

5. Check the details of the DTCs.

DTC chart for ABS:

ABS DTC CHART

Warning Light Display Techstream Display
11 C0278
12 C0279
13 C0273
14 C0274
21 C0226
22 C0236
23 C0246
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

24 C0256
25 C1225
C1401
31
C1405
C1402
32
C1406
C1403
33
C1407
C1404
34
C1408
35 C1413
36 C1414
37 C1337
38 C1415

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39 C1416
C1241
41
C1417
43 C1243
C1419
44 C1420
C1442
45 C1245
C1421
C1422
46
C1423
C1424
C1425
49
C1426
C1427
51
C1428
C1429
67 C1430
C1431
91 C1361
94 U0073
95 U0124
97 C1381

DTC chart for VSC:

VSC DTC CHART

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Indicator Light Display Techstream Display

C1432
31 C1433
C1434
32 C1232
C1435
34 C1436
C1443
36 C1210
39 C1336
43 ((1)) -
51 C1201
53 C1203
62 U0123

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63 U0126
64 C1380
C1437
65
U0100
C1290
66 C1439
C1445
C1440
98
C1441
(1) This DTC is output when the VSC system detects a malfunction in the ABS.

6. After completing the check, disconnect terminals TC and CG of the DLC3 to turn off the
display. If 2 or more DTCs are detected at the same time, the DTCs will be displayed in
ascending order.
b. Clear the DTCs.
1. Using SST, connect terminals TC and CG of the DLC3.

SST 09843-18040

2. Turn the ignition switch on (IG).

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 33: Identifying Terminals TC And CG Of DLC3

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

3. Clear the DTCs stored in the ECU by depressing the brake pedal 8 times or more within 5
seconds.

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4. Check that the warning light indicates a normal system code.
5. Remove SST from the terminals of the DLC3.

HINT:

Clearing the DTCs cannot be performed by disconnecting the battery terminal or the ECU-IG
NO. 2 fuse.

Fig. 34: Depressing Brake Pedal

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

3. END OF DTC CHECK/CLEAR

a. Turn the ignition switch on (IG).
b. Check that the ABS warning and slip indicator lights go off within approximately 3 seconds after
turning the ignition switch on (IG).

FREEZE FRAME DATA

1. FREEZE FRAME DATA

a. Whenever an ABS DTC is detected, the skid control ECU stores the current vehicle (sensor) state
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

as Freeze Frame Data.

b. The skid control ECU stores the number of times (maximum: 31) the ignition switch has been
turned from off to on (IG) since the last time the ABS was activated.

HINT:

If the vehicle is stopped or at a low speed (7 km/h (4.3 mph) or less), or if a DTC is detected, the
skid control ECU will stop counting the number.

 Freeze Frame Data at the time the ABS operates:

The skid control ECU stores and updates data whenever the ABS system operates. When the
ECU stores data at the time a DTC is detected, the data stored during ABS operation is
erased.

 Freeze Frame Data at the time a DTC is detected:

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When the skid control ECU stores data at the time a DTC is detected, no updates will be
performed until the data is cleared.

2. CHECK FREEZE FRAME DATA

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Turn Techstream on.
d. Enter the following menus: Chassis/ABS/VSC/TRAC/Trouble Codes.
e. According to the display on the tester, select the trouble code data display with Freeze Frame Data.

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item Reference Value
Elapsed Time after
Elapsed time after freeze frame trigger Min.: 0 ms, Max.: 500 ms
Freeze Trigger
Number of operations of ignition switch being
Number of IG ON 0 to 31
turned on (IG) after storing Freeze Frame Data
Skid control buzzer ON:
Buzzer Skid control buzzer signal
ON, OFF: OFF
Stop light switch ON: ON,
Stop Light SW Stop light switch signal
OFF: OFF
Parking brake switch ON:
Parking Brake SW Parking brake switch signal
ON, OFF: OFF
TRC (TRAC)A/SC VSC OFF switch ON: OFF,
VSC OFF switch signal
OFF SW OFF: ON
FAIL
1st
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

2nd
3rd
4th
5th
6th
Gear Position Gear position information
7th
8th
P, N
R
NOT R
FAIL
1st
2nd
3rd
4th
Shift Lever Position Shift lever position information
5th

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6th/B
D/M
P, N
R
ABS: ABS activated
VSC: VSC activated
TRC: TRAC activated
BA: BA activated
HAB: HAB activated
HA-CTRL: Hill-start assist
Operated System Operated system status control activated
FAIL: Fail safe mode
activated
SYS: System prohibit
activated
NON: No operation
activated
Brake pedal released: 0.3 to
Master Cylinder 0.9 V
Master cylinder pressure sensor reading
Sensor Brake pedal depressed: 0.8
to 4.5 V
Min.: -30 MPa/s, Max.: 225
M/C Sensor Grade Master cylinder pressure sensor change
MPa/s
Min.: -128 deg/s, Max.: 127
Yaw Rate Sensor Yaw rate sensor reading
deg/s
Min.: -25.11 m/s2, Max.:
Lateral G Lateral G
24.91 m/s2
Forward and Min.: -25.11 m/s2 , Max.:
Forward and backward G
Rearward G 24.91 m/s2
Min.: 0 km/h (0 mph), Max.:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

FR Wheel Speed FR wheel speed 326.4 km/h (202 mph)

Min.: 0 km/h (0 mph), Max.:
FL Wheel Speed FL wheel speed
326.4 km/h (202 mph)
Min.: 0 km/h (0 mph), Max.:
RR Wheel Speed RR wheel speed
326.4 km/h (202 mph)
Min.: 0 km/h (0 mph), Max.:
RL Wheel Speed RL wheel speed
326.4 km/h (202 mph)
Min.: 0 km/h (0 mph), Max.:
Vehicle Speed Vehicle speed reading
326.4 km/h (202 mph)
Vehicle Speed Min.: -25.11 m/s2 , Max.:
Vehicle speed grade
Grade 24.91 m/s2
Min.: -1024 Nm, Max.:
Real Engine Torque Real engine torque
1023 Nm
Accelerator Opening
Accelerator opening Angle % Min.: 0%, Max.: 128%
Angle %

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Brake Pedal Load Brake pedal load sensing
Brake pedal load sensing switch signal
Sensing SW switch ON: ON, OFF: OFF
OTHER: Normal mode
Inspection Mode Inspection mode
INSPECT: Inspection mode
Steering Angle Left turn: Increase
Steering angle sensor reading
Sensor Right turn: Decrease
NORMAL: Normal mode
TRC/VSC Off Mode TRAC/VSC off mode TRC OFF: TRAC off mode
VSC OFF: VSC off mode

3. CLEAR FREEZE FRAME DATA

NOTE: Clearing the DTCs will also clear the Freeze Frame Data.

a. Connect Techstream to the DLC3.

b. Turn the ignition switch on (IG).
c. Clear the DTCs and Freeze Frame Data (See DTC CHECK/CLEAR).

FAIL-SAFE CHART

1. FAIL SAFE OPERATION

 If there is a problem with sensor signals or brake actuator systems, the skid control ECU prohibits
power supply to the brake actuator and informs the ECM of VSC system failure.

The brake actuator turns off the solenoids and the ECM stops its VSC according to signals from the
skid control ECU. The vehicle will operate in a manner similar to a vehicle that is not equipped
with ABS, TRAC and VSC systems.

ABS control will be prohibited, but EBD control will continue to the extent that EBD control is
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

possible. If EBD control is impossible, the brake warning light will come on to warn the driver (See
DIAGNOSIS SYSTEM).

 If a VSC system component malfunctions before VSC begins, VSC will be prohibited. If a system
component malfunctions while VSC is operating, the system will gradually stop operating so as not
to trigger a sudden change in vehicle stability.

If it is impossible to control the systems, the warning light will come on to inform the driver of
system control termination (See DIAGNOSIS SYSTEM).

HINT:

For vehicles with the multi-information display, the master caution indicator light will come on and
a warning message will be displayed on the multi-information display if any of the EBD system,
BA system, or TRAC system is malfunctioning or if the ABS control or VSC cannot be performed.

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ABS, EBP and BA system:

MALFUNCTIONING AREA REFERENCE

Malfunctioning
Control Method
Area
ABS, BA, TRAC, VSC, downhill assist control (for 4WD) and hill-start assist
ABS system
control prohibited
ABS, BA, TRAC, VSC, downhill assist control (for 4WD) and hill-start assist
BA system
control prohibited
ABS, EBD, BA, TRAC, VSC, downhill assist control (for 4WD) and hill-start
EBD system
assist control prohibited

HINT:

A malfunction in either the ABS or BA system will result in identical operation, with ABS, BA, TRAC,
VSC, downhill assist control (for 4WD) and hill-start assist control system control being prohibited.

TRAC, VSC, downhill assist control (for 4WD) and hill-start assist control system:

MALFUNCTIONING AREA REFERENCE

Malfunctioning Area Control Method
Before control: Disables control
Engine control system (TRAC and VSC systems) During control: Uses only the brakes to
effect control
Before control: Disables control
Brake control system (VSC system) During control: Uses only the engine to
effect control
Before control: Disables control
Brake control system (TRAC, downhill assist control (for
During control: Disables control (by
4WD) and hill-start assist control systems)
gradually stopping control)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

The TRAC, VSC, downhill assist control (for 4WD) and hill-start assist control systems use different
systems to prohibit different controls depending on the malfunctioning parts.

2. SYSTEM TEMPERATURE PROTECTION OPERATION

If the TRAC, downhill assist control (for 4WD) or hill-start assist control system has been used
constantly for a long time, the temperature of the brake actuator may excessively increase. If the
temperature excessively increases, the skid control buzzer will sound intermittently. If the temperature
further increases, the skid control buzzer sounds and the indicator light either comes on or blinks.

INDICATOR CONDITION REFERENCE

System Indicator Condition
TRAC and hill-start assist control systems Slip indicator light comes on
Slip indicator light comes on

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Downhill assist control system (for 4WD)
Downhill assist control indicator light blinks

HINT:

 If the slip indicator light goes off (for the downhill assist control system, the downhill assist control
indicator light also comes on (for 4WD)), the systems automatically return to normal operating
conditions.
 As this is not a malfunction, no DTC will be recorded.

DATA LIST/ACTIVE TEST

1. DATA LIST

HINT:

Using Techstream to read the Data List allows the values or states of switches, sensors, actuators and
other items to be read without removing any parts. This non-intrusive inspection can be very useful
because intermittent conditions or signals may be discovered before parts or wiring is disturbed. Reading
the Data List information early in troubleshooting is one way to save diagnostic time.

NOTE: In the table below, the values listed under "Normal Condition" are
reference values. Do not depend solely on these reference values when
deciding whether a part is faulty or not.

a. Warm up the engine.

b. Turn the ignition switch off.
c. Connect Techstream to the DLC3.
d. Turn the ignition switch on (IG).
e. Turn Techstream on.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

f. Enter the following menus: Chassis/ABS/VSC/TRAC/Data List.

g. According to the display on the tester, read the Data List.

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ON: Warning light ON
ABS Warning Light ABS warning light/ON or OFF OFF: Warning light -
OFF
ON: Warning light ON
Brake Warning
Brake warning light/ON or OFF OFF: Warning light -
Light
OFF
ON: Indicator light ON
Slip Indicator Light Slip indicator light/ON or OFF OFF: Indicator light -

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OFF
Downhill Assist ON: Indicator light ON
Downhill assist control indicator
OFF: Indicator light -
Control Light ((1)) light/ON or OFF
OFF
ON: Buzzer ON
Buzzer Skid control buzzer/ON or OFF -
OFF: Buzzer OFF
ON: Brake pedal
depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal
released
ON: Parking brake
applied
Parking Brake SW Parking brake switch/ON or OFF -
OFF: Parking brake
released
ON: Accelerator pedal
released
Main Idle SW Main idle switch/ON or OFF -
OFF: Accelerator pedal
depressed
ON: Brake pedal
depressed beyond the
Brake Pedal Load Brake pedal load sensing switch/ON specified point
-
Sensing SW or OFF OFF: Brake pedal not
depressed beyond the
specified point
Gear position information/P/N, R,
Gear Position Actual gear position -
1st-8th, FAIL, NOT R
Shift lever position information/P/N, Actual shift lever
Shift Lever Position -
R, D/M, 1st-6th/B, FAIL position
ON: During gear
Shift Information Shift information/ON or OFF -
change
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OTHER: Normal mode

Inspection mode/OTHER or
Inspection Mode INSPECT: Inspection -
INSPECT
mode
Number of ignition switch being
Number of IG ON Min.: 0
turned on (IG) after entering -
(Inspection) Max.: 255
inspection mode/min.: 0, max.: 255
Downhill Assist Downhill assist control switch/ON or ON: Switch ON
-
Control SW ((1)) OFF OFF: Switch OFF
Reading increases
Master Cylinder Master cylinder pressure sensor/min.: When brake pedal is
when brake pedal is
Sensor 0 V, max.: 5 V released: 0.3 to 0.9 V
depressed
Memorized zero value/min.: -12.5 Min.:-12.5 MPa
Zero Point of M/C -
MPa, max.: 12.4 MPa Max.: 12.4 MPa
Reading changes
Acceleration sensor/min.:-18.52 Min.:-18.52 m/s2
Deceleration Sensor when vehicle is
m/s2 , max.: 18.39 m/s2 Max.: 18.39 m/s2

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bounced
Zero Point of Memorized zero value/min.: -25.11 Min.: -25.11 m/s2
-
Decele m/s2 , max.: 24.91 m/s2 Max.: 24.91 m/s2
Reading changes
Deceleration Sensor Acceleration sensor 2/min.: -18.52 Min.:-18.52 m/s2
when vehicle is
2 m/s2 , max.: 18.39 m/s2 Max.: 18.39 m/s2 bounced
Zero Point of Memorized zero value/min.: -25.11 Min.:-25.11 m/s2
-
Decele 2 m/s2 , max.: 24.91 m/s2 Max.: 24.91 m/s2
Vehicle stationary: 0
deg/s
Yaw rate sensor/min.: -128 deg/s, Right turn: -128 to 0
Yaw Rate Sensor -
max.: 127 deg/s deg/s
Left turn: 0 to 127
deg/s
Zero Point of Yaw Memorized zero value/min.: -128 Min.: -128 deg/s
-
Rate deg/s, max.: 127 deg/s Max.: 127 deg/s
Vehicle stationary: 0
deg/s
Yaw rate sensor 2/min.: -128 deg/s, Right turn: -128 to 0
Yaw Rate Sensor 2 -
max.: 127 deg/s deg/s
Left turn: 0 to 127
deg/s
Zero Point of Yaw Memorized zero value/min.: -128 Min.: -128 deg/s
-
Rate 2 deg/s, max.: 127 deg/s Max.: 127 deg/s
Steering Angle Steering angle sensor/min.: -3276.8 Left turn: Increase
-
Sensor deg, max.: 3276.7 deg Right turn: Decrease
Zero Point of Memorized zero value/min.: -3276.8 Min.: -3276.8 deg
-
Steering Angle deg, max.: 3276.7 deg Max.: 3276.7 deg
Lateral G Lateral G/min.: -25.11 m/s2 , max.: Min.:-25.11 m/s2 -
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

24.91 m/s2 Max.: 24.91 m/s2

Forward and Forward and backward G/min.: - Min.:-25.11 m/s2
-
Rearward G 25.11 m/s2 , max.: 24.91 m/s2 Max.: 24.91 m/s2
Yaw rate value/min.: -128 deg/s, Min.: -128 deg/s
Yaw Rate Value -
max.: 127 deg/s Max.: 127 deg/s
Steering Angle Steering angle value/min.: -3276.8 Min.: -3276.8 deg
-
Value deg, max.: 3276.7 deg Max.: 3276.7 deg
Stop Light Relay ON: Relay ON
Stop light control relay/ON or OFF -
((2)) OFF: Relay OFF
FR wheel speed sensor reading/min.: Similar speed as
FR Wheel Speed 0 km/h (0 mph), max.: 326 km/h (202 Actual wheel speed indicated on
mph) speedometer
FL wheel speed sensor reading/min.: Similar speed as
FL Wheel Speed 0 km/h (0 mph), max.: 326 km/h (202 Actual wheel speed indicated on

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mph) speedometer
RR wheel speed sensor reading/min.: Similar speed as
RR Wheel Speed 0 km/h (0 mph), max.: 326 km/h (202 Actual wheel speed indicated on
mph) speedometer
RL wheel speed sensor reading/min.: Similar speed as
RL Wheel Speed 0 km/h (0 mph), max.: 326 km/h (202 Actual wheel speed indicated on
mph) speedometer
Maximum wheel speed sensor
Speed indicated on
Vehicle Speed reading/min.: 0 km/h (0 mph), max.: Actual vehicle speed
speedometer
326 km/h (202 mph)
FR Wheel FR wheel acceleration/min.: -200.84
0 m/s2 -
Acceleration m/s2 , max.: 199.27 m/s2
FL Wheel FL wheel acceleration/min.: -200.84
0 m/s2 -
Acceleration m/s2 , max.: 199.27 m/s2
RR Wheel RR wheel acceleration/min.: -200.84
0 m/s2 -
Acceleration m/s2 , max.: 199.27 m/s2
RL Wheel RL wheel acceleration/min.: -200.84
0 m/s2 -
Acceleration m/s2 , max.: 199.27 m/s2
Stop Light Relay Stop light control relay output/ON or ON: Relay output ON
OFF: Relay output -
Output ((2)) OFF
OFF
FR Wheel ABS Ctrl FRL wheel ABS control status/ON or
ON: During control -
Status OFF
FL Wheel ABS Ctrl FL wheel ABS control status/ON or
ON: During control -
Status OFF
RR Wheel ABS Ctrl RR wheel ABS control status/ON or
ON: During control -
Status OFF
RL Wheel ABS Ctrl RL wheel ABS control status/ON or
ON: During control -
Status OFF
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RR Wheel EBD Ctrl RR wheel EBD control status/ON or

ON: During control -
Status OFF
RL Wheel EBD Ctrl RL wheel EBD control status/ON or
ON: During control -
Status OFF
BA Ctrl Status BA control status/ON or OFF ON: During control -
TRC (TRAC) Ctrl
TRAC control status/ON or OFF ON: During control -
Status
TRC (TRAC) TRAC engine control status/ON or
ON: During control -
Engine Ctrl Status OFF
TRC (TRAC) Brake TRAC brake control status/ON or
ON: During control -
Ctrl Status OFF
FR Wheel VSC Ctrl FR wheel VSC control status/ON or
ON: During control -
Status OFF
FL Wheel VSC Ctrl FL wheel VSC control status/ON or
ON: During control -
Status OFF

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RR Wheel VSC Ctrl RR wheel VSC control status/ON or
ON: During control -
Status OFF
RL Wheel VSC Ctrl RL wheel VSC control status/ON or
ON: During control -
Status OFF
Engine revolutions/min.: 0 r/min, Min.: 0 r/min
Engine Revolutions -
max.: 65535 r/min Max.: 65535 r/min
Real engine torque/min.: -1024 N*m,
Min.:-1024 N*m
Real Engine Torque -
max.: 1023 N*m Max.: 1023 N*m
Accelerator The difference of a present Min.: 0 %
-
Opening Angle % accelerator/ min.: 0 %, max.: 128 % Max.: 128%
ON: Solenoid relay ON
Solenoid Relay ABS solenoid relay/ON or OFF OFF: Solenoid relay -
OFF
ON: Motor relay ON
ABS Motor Relay ABS motor relay/ON or OFF -
OFF: Motor relay OFF
Fail Safe Motor ON: Motor relay ON
ABS motor fail safe relay/ON or OFF -
Relay OFF: Motor relay OFF
TR (A)CA/SC Master cut solenoid (SM2)/ON or
ON: Operates -
Solenoid (SM2) OFF
TR (A)CA/SC Master cut solenoid (SM1)/ON or
ON: Operates -
Solenoid (SM1) OFF
ABS Solenoid
ABS solenoid (SFRH)/ON or OFF ON: Operates -
(SFRH)
ABS Solenoid
ABS solenoid (SFRR)/ON or OFF ON: Operates -
(SFRR)
ABS Solenoid
ABS solenoid (SFLH)/ON or OFF ON: Operates -
(SFLH)
ABS Solenoid
ABS solenoid (SFLR)/ON or OFF ON: Operates -
(SFLR)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS Solenoid
ABS solenoid (SRRH)/ON or OFF ON: Operates -
(SRRH)
ABS Solenoid
ABS solenoid (SRRR)/ON or OFF ON: Operates -
(SRRR)
ABS Solenoid
ABS solenoid (SRLH)/ON or OFF ON: Operates -
(SRLH)
ABS Solenoid
ABS solenoid (SRLR)/ON or OFF ON: Operates -
(SRLR)
ERROR: Momentary
FR speed sensor open
FR Speed Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
FL speed sensor open
FL Speed Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
RR speed sensor open

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RR Speed Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
RL speed sensor open
RL Speed Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
EFI Communication EFI communication open
interruption -
Open detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
Yaw rate sensor open
Yaw Rate Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
Acceleration sensor open
Deceleration Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
Steering angle sensor open
Steering Open interruption -
detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
Master Cylinder Master cylinder pressure sensor open
interruption -
Open detection/ERROR or NORMAL
NORMAL: Normal
Motor driving monitor voltage/min.: Min.: 0 V
MT Voltage Value -
0 V, max.: 255 V Max.: 255 V
NORMAL: Normal
mode
TRC/VSC Off VSC OFF switch/NORMAL, TRC TRC OFF: TRAC off
-
Mode OFF or VSC OFF mode
VSC OFF: VSC off
mode
Number of DTC recorded/min.: 0, Min.: 0
Number of DTC -
max.: 255 Max.: 255
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

IG Voltage Value IG voltage value decrease ERROR: Decrease

-
Decreased detection/ERROR or NORMAL NORMAL: Normal
IG Voltage Value IG voltage value increase ERROR: Increase
-
Increased detection/ERROR or NORMAL NORMAL: Normal
ERROR: Momentary
FR Speed Sensor FR speed sensor voltage open
interruption -
Voltage Open detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
FL Speed Sensor FL speed sensor voltage open
interruption -
Voltage Open detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
RR Speed Sensor RR speed sensor voltage open
interruption -
Voltage Open detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
RL Speed Sensor RL speed sensor voltage open
interruption -
Voltage Open detection/ERROR or NORMAL

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NORMAL: Normal
M/C Pressure Master cylinder pressure sensor noise ERROR: Malfunction
-
Sensor Noise detection/ERROR or NORMAL NORMAL: Normal
ERROR: Momentary
Brake Pedal Switch Brake pedal load sensing switch open
interruption -
Open detection/ERROR or NORMAL
NORMAL: Normal
ERROR: Momentary
Yaw Rate Sensor Yaw rate sensor voltage open
interruption -
Voltage Open detection/ERROR or NORMAL
NORMAL: Normal
EFI Communication EFI communication invalid ERROR: Invalid
-
Invalid detection/ERROR or NORMAL NORMAL: Normal
(1) for 4WD

(2) with downhill assist control (for 4WD) or hill-start assist control

2. ACTIVE TEST

HINT:

Using Techstream to perform Active Tests allows relays, VSVs, actuators and other items to be operated
without removing any parts to operate without removing any parts. This non-intrusive functional
inspection can be very useful because intermittent operation may be discovered before parts or wiring is
disturbed. Performing Active Tests early in troubleshooting is one way to save diagnostic time. Data List
information can be displayed while performing Active Tests.

a. Warm up the engine.

b. Turn the ignition switch off.
c. Connect Techstream to the DLC3.
d. Turn the ignition switch on (IG).
e. Turn Techstream on.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

f. Enter the following menus: Chassis/ABS/VSC/TRAC/Active Test.

g. According to the display on the tester, perform the Active Test.

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Warning light
ABS Warning Light ABS warning light Observe combination meter
ON/OFF
Warning light
Brake Warning Light Brake warning light Observe combination meter
ON/OFF
Indicator light
Slip Indicator Light Slip indicator light Observe combination meter
ON/OFF
VSC OFF Indicator Indicator light
VSC OFF indicator light Observe combination meter
Light ON/OFF

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TRAC OFF Indicator TRAC OFF indicator Indicator light
Observe combination meter
Light light ON/OFF
Downhill Assist Downhill assist control Indicator light
(1) Observe combination meter
Control Light ( ) indicator light ON/OFF
Buzzer Skid control buzzer Buzzer ON/OFF Buzzer can be heard
Solenoid Relay ABS solenoid relay Relay ON/OFF -
Operating sound of motor can be
Motor Relay ABS motor relay Relay ON/OFF
heard
Stop Light Relay ((2)) Stop light control relay Relay ON/OFF Stop lights come on
Solenoid Operating sound of solenoid
ABS Solenoid (SRLR) ABS solenoid (SRLR)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SRLH) ABS solenoid (SRLH)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SRRR) ABS solenoid (SRRR)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SRRH) ABS solenoid (SRRH)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SFLR) ABS solenoid (SFLR)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SFLH) ABS solenoid (SFLH)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SFRR) ABS solenoid (SFRR)
ON/OFF (clicking sound) can be heard
Solenoid Operating sound of solenoid
ABS Solenoid (SFRH) ABS solenoid (SFRH)
ON/OFF (clicking sound) can be heard
VSC/TRC Solenoid Master cut solenoid Solenoid Operating sound of solenoid
(SMR) (SM2) ON/OFF (clicking sound) can be heard

VSC/TRC Solenoid Master cut solenoid Solenoid Operating sound of solenoid

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

(SMF) (SM1) ON/OFF (clicking sound) can be heard

(1) for 4WD

(2) with downhill assist control (for 4WD) or hill-start assist control

DIAGNOSTIC TROUBLE CODE CHART

NOTE: Turn the ignition switch off before removing any parts.

HINT:

 If no abnormality is found when inspecting parts, inspect the skid control ECU and ground points for poor
connections.
 If a trouble code is displayed during the DTC check, check the circuit indicated by the DTC. For details
of each code, refer to the page for the respective "DTC Code" in the DTC chart.

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 When 2 or more DTCs are detected, perform circuit inspection one by one until the problem is identified.
 For DTCs indicated by the warning light or indicator light, refer to the DTC charts in DTC Check/Clear.
 Inspect the fuses and relays before inspecting the trouble areas as shown in the table below.

DTC chart for ABS:

ABS DTC CHART

DTC Code Detection Item Trouble Area
1. SFRR or SFRH circuit
C0226 SFR Solenoid Circuit
2. Brake actuator assembly
1. SFLR or SFLH circuit
C0236 SFL Solenoid Circuit
2. Brake actuator assembly
1. SRRR or SRRH circuit
C0246 SRR Solenoid Circuit
2. Brake actuator assembly
1. SRLR or SRLH circuit
C0256 SRL Solenoid Circuit
2. Brake actuator assembly
1. Fusible link block (VSC
NO. 1 fuse)
C0273 (*1) Open in ABS Motor Relay Circuit 2. ABS motor relay circuit
3. Brake actuator assembly
(ABS motor relay)
1. ABS motor relay circuit
C0274 Short in ABS Motor Relay Circuit 2. Brake actuator assembly
(ABS motor relay)
1. Fusible link block (VSC
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NO. 2 fuse)
Open in ABS Solenoid Relay 2. ABS solenoid relay circuit
C0278
Circuit 3. Brake actuator assembly
(ABS solenoid relay)
1. ABS solenoid relay circuit
Short in ABS Solenoid Relay
C0279 2. Brake actuator assembly
Circuit
(ABS solenoid relay)
1. SM1 or SM2 circuit
C1225 SM Solenoid Circuit
2. Brake actuator assembly
1. ECU-IG NO. 2 fuse
2. Battery
Low Power Supply Voltage 3. Charging system
C1241 4. Power source circuit
Malfunction

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5. Internal power supply
circuit of the skid control
ECU
1. Sensor installation
Acceleration Sensor Stuck
C1243 (*1) 2. Yaw rate and acceleration
Malfunction
sensor
1. Sensor installation
Acceleration Sensor Output
C1245 (*1) 2. Yaw rate and acceleration
Malfunction
sensor
1. Tire and wheel size
2. Tire deformation
3. Speed sensor rotor
Different Diameter Tire
C1337 4. Speed sensor
Malfunction
5. Speed sensor circuit
6. Brake actuator assembly
(Skid control ECU)
1. Fusible link block (VSC
NO. 1 fuse)
Short in ABS Motor Fail Safe 2. ABS motor fail safe relay
C1361
Relay Circuit circuit
3. Brake actuator assembly
(ABS motor fail safe relay)
1. Yaw rate and acceleration
Acceleration Sensor Power Supply sensor power source circuit
C1381
Voltage Malfunction 2. Yaw rate and acceleration
sensor
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Front Speed Sensor RH 1. Front speed sensor RH

C1401 (*1)
Malfunction 2. Speed sensor rotor
Front Speed Sensor LH 1. Front speed sensor LH
C1402 (*1)
Malfunction 2. Speed sensor rotor
Rear Speed Sensor RH 1. Rear speed sensor RH
C1403 (*1)
Malfunction 2. Speed sensor rotor
Rear Speed Sensor LH 1. Rear speed sensor LH
C1404 (*1)
Malfunction 2. Speed sensor rotor
1. Front speed sensor RH
Open or Short in Front Speed 2. Speed sensor circuit
C1405 (*1)
Sensor RH Circuit 3. Brake actuator assembly
(Skid control ECU)

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1. Front speed sensor LH
Open or Short in Front Speed 2. Speed sensor circuit
C1406 (*1)
Sensor LH Circuit 3. Brake actuator assembly
(Skid control ECU)
1. Rear speed sensor RH
Open or Short in Rear Speed 2. Speed sensor circuit
C1407 (*1)
Sensor RH Circuit 3. Brake actuator assembly
(Skid control ECU)
1. Rear speed sensor LH
Open or Short in Rear Speed 2. Speed sensor circuit
C1408 (*1)
Sensor LH Circuit 3. Brake actuator assembly
(Skid control ECU)
1. Front speed sensor RH
2. Speed sensor circuit
Front Speed Sensor RH Output
C1413 (*1) 3. Speed sensor rotor
Malfunction
4. Brake actuator assembly
(Skid control ECU)
1. Front speed sensor LH
2. Speed sensor circuit
Front Speed Sensor LH Output
C1414 (*1) 3. Speed sensor rotor
Malfunction
4. Brake actuator assembly
(Skid control ECU)
1. Rear speed sensor RH
Rear Speed Sensor RH Output 2. Speed sensor circuit
C1415 (*1)
Malfunction 3. Speed sensor rotor
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. Brake actuator assembly

(Skid control ECU)
1. Rear speed sensor LH
2. Speed sensor circuit
Rear Speed Sensor LH Output
C1416 (*1) 3. Speed sensor rotor
Malfunction
4. Brake actuator assembly
(Skid control ECU)
1. ECU-IG NO. 2 fuse
2. Battery
High Power Supply Voltage 3. Charging system
C1417 4. Power source circuit
Malfunction
5. Internal power supply
circuit of the skid control

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ECU
C1419 Acceleration Sensor Internal Yaw rate and acceleration sensor
Circuit
1. Sensor installation
C1420 Acceleration Sensor Malfunction 2. Yaw rate and acceleration
sensor
C1421 (*2) Open or Short in Master Cylinder Brake actuator assembly (Master
Pressure Sensor cylinder pressure sensor)
1. Stop light switch
2. Stop light switch circuit
Master Cylinder Pressure Sensor 3. Master cylinder pressure
C1422 (*2) sensor circuit
Zero Point High Malfunction
4. Brake actuator assembly
(Master cylinder pressure
sensor)
C1423 (*2) Master Cylinder Pressure Sensor Brake actuator assembly (Master
Zero Point Low Malfunction cylinder pressure sensor)
C1424 (*2) Master Cylinder Pressure Sensor Brake actuator assembly (Master
Output Malfunction cylinder pressure sensor)
1. STOP fuse
2. Stop light switch
3. Stop light switch circuit
C1425 (*3) Open in Stop Light Switch Circuit 4. Stop light control relay
5. Stop light control relay
circuit
6. Brake actuator assembly
(Skid control ECU)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. STOP fuse
2. Stop light switch
3. Stop light switch circuit
Stop Light Switch OFF Stuck 4. Stop light control relay
C1426
Malfunction
5. Stop light control relay
circuit
6. Brake actuator assembly
(Skid control ECU)
1. Brake actuator assembly
(Ground circuit)
C1427 (*1) Motor Malfunction
2. Brake actuator assembly
(Motor circuit)
C1428 (*1) Motor Circuit Malfunction Brake actuator assembly (Motor
circuit)

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1. Brake pedal load sensing
switch
Open or Short in Brake Pedal 2. Brake pedal load sensing
C1429
Load Sensing Switch switch circuit
3. Brake actuator assembly
(Skid control ECU)
1. Brake pedal load sensing
Brake Pedal Load Sensing Switch switch
C1430
OFF Stuck Malfunction 2. Brake pedal load sensing
switch circuit
1. Brake pedal load sensing
Brake Pedal Load Sensing Switch switch
C1431
ON Stuck Malfunction 2. Brake pedal load sensing
switch circuit
C1442 Invalid Data Received from Yaw rate and acceleration sensor
Acceleration Sensor
U0073 Control Module Communication CAN communication system
Bus OFF
U0124 Lost Communication with Lateral CAN communication system
Acceleration Sensor Module (Skid control ECU to yaw rate and
acceleration sensor)
(*1 to *3):
Even after the trouble areas are repaired, the ABS warning light will not go off unless the following
operations are performed:

 (*1):
a. Drive the vehicle at 20 km/h (12 mph) for 30 seconds or more and check that the ABS
warning light goes off.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Clear the DTCs.

 (*2):
a. Turn the ignition switch on (IG).
b. Keep the vehicle stationary for 5 seconds or more and depress the brake pedal lightly 2 or 3
times.
c. Drive the vehicle at the vehicle speed of 50 km/h (31 mph) and depress and hold the brake
pedal firmly for approximately 3 seconds.
d. Repeat the above operation 3 times or more and check that the ABS warning light goes off.
e. Clear the DTCs.
 (*3):
a. Turn the ignition switch on (IG).
b. Depress the brake pedal.
c. Clear the DTCs.

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HINT:

In some cases, Techstream cannot be used when the ABS warning light remains on.

DTC chart for VSC:

VSC DTC CHART

DTC Code Detection Item Trouble Area
C1201 Engine Control System Engine control system
Malfunction
C1203 ECM Communication Circuit ECM
Malfunction
C1210 Zero Point Calibration of Yaw Yaw rate and acceleration sensor
Rate Sensor Undone
1. Sensor installation
Acceleration Sensor Stuck
C1232 2. Yaw rate and acceleration
Malfunction
sensor
1. Yaw rate and acceleration
sensor zero point calibration
incomplete
Steering Angle Sensor Zero Point 2. Poor adjustment of the
C1290
Malfunction center position of the
steering wheel
3. Poor adjustment of front
wheel alignment
C1336 Zero Point Calibration of Yaw rate and acceleration sensor
Acceleration Sensor Undone
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. Stop light switch

2. Stop light switch circuit
Stop Light Control Relay 3. Stop light control relay
C1380 4. Stop light control relay
Malfunction
circuit
5. Brake actuator assembly
(Skid control ECU)
1. Steering angle sensor power
Steering Angle Sensor Power
C1432 supply
Source Voltage Malfunction
2. Steering angle sensor
C1433 Steering Angle Sensor Internal Steering angle sensor
Circuit
1. Steering angle sensor power

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supply
Steering Angle Sensor Output
C1434 2. Steering angle sensor
Malfunction
3. Brake actuator assembly
(Skid control ECU)
C1435 Yaw Rate Sensor Internal Circuit Yaw rate and acceleration sensor
C1436 Yaw Rate Sensor Malfunction Yaw rate and acceleration sensor
1. CAN communication
system (Skid control ECU
C1437 Lost Communication with ECM to ECM)
2. Brake actuator assembly
(Skid control ECU)
1. Steering angle sensor
Steering Angle Sensor 2. Yaw rate and acceleration
C1439 sensor
Initialization Incomplete
3. Brake actuator assembly
(Skid control ECU)
C1440 Unusual Bank Angle Detected Yaw rate and acceleration sensor
C1441 Brake Booster Malfunction Brake booster assembly
C1443 Invalid Data Received from Yaw Yaw rate and acceleration sensor
Rate Sensor
1. Steering angle sensor
Vehicle Driven with Steering 2. Yaw rate and acceleration
C1445 sensor
Angle Sensor not Initialized
3. Brake actuator assembly
(Skid control ECU)
U0100 Lost Communication with CAN communication system
ECM/PCM (Skid control ECU to ECM)
U0123 Lost Communication with Yaw CAN communication system
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Rate Sensor Module (Skid control ECU to yaw rate and

acceleration sensor)
U0126 Lost Communication with CAN communication system
Steering Angle Sensor Module (Skid control ECU to steering
angle sensor)

HINT:

In some cases, Techstream cannot be used when the slip indicator light remains on.

Test Mode DTC for ABS:

TEST MODE DTC CHART FOR ABS

DTC Code Detection Item Trouble Area
1. Front speed sensor RH

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Low Output Signal of Front Speed
C1271 2. Sensor installation
Sensor RH (Test Mode DTC)
3. Speed sensor rotor
1. Front speed sensor LH
Low Output Signal of Front Speed
C1272 2. Sensor installation
Sensor LH (Test Mode DTC)
3. Speed sensor rotor
1. Rear speed sensor RH
Low Output Signal of Rear Speed
C1273 2. Sensor installation
Sensor RH (Test Mode DTC)
3. Speed sensor rotor
1. Rear speed sensor LH
Low Output Signal of Rear Speed
C1274 2. Sensor installation
Sensor LH (Test Mode DTC)
3. Speed sensor rotor
C1275 Abnormal Change in Output Speed sensor rotor
Signal of Front Speed Sensor RH
(Test Mode DTC)
C1276 Abnormal Change in Output Speed sensor rotor
Signal of Front Speed Sensor LH
(Test Mode DTC)
C1277 Abnormal Change in Output Speed sensor rotor
Signal of Rear Speed Sensor RH
(Test Mode DTC)
C1278 Abnormal Change in Output Speed sensor rotor
Signal of Rear Speed Sensor LH
(Test Mode DTC)
Acceleration Sensor Output 1. Sensor installation
C1279 Voltage Malfunction (Test Mode 2. Yaw rate and acceleration
DTC) sensor
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. Stop light switch

Master Cylinder Pressure Sensor 2. Brake pedal load sensing
C1281 Output Malfunction (Test Mode switch
DTC) 3. Master cylinder pressure
sensor

Test Mode DTC for VSC:

TEST MODE DTC CHART FOR VSC

DTC Code Detection Item Trouble Area
C0371 Yaw Rate Sensor (Test Mode Yaw rate and acceleration sensor
DTC)
(1)
C1379 ( ) Downhill Assist Control Switch Downhill assist control switch
Malfunction (Test Mode DTC)

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(1) for 4WD

DTC C0226 SFR SOLENOID CIRCUIT; DTC C0236 SFL SOLENOID CIRCUIT; DTC C0246 SRR
SOLENOID CIRCUIT; DTC C0256 SRL SOLENOID CIRCUIT; DTC C1225 ISM SOLENOID
CIRCUIT

DESCRIPTION

These solenoids turn on when signals are received from the skid control ECU and they control the pressure
acting on the wheel cylinders to control the braking force.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
C0226
 Solenoid circuit
C0236 Open or short in the solenoid circuit continues for 0.05 seconds or
C0246 more.  Brake actuator
C0256 assembly
Any of the following is detected:

1. While switching solenoid (SM1 or SM2) is ON, over current

continues for 0.15 seconds or more.
2. While switching solenoid (SM1 or SM2) is OFF, an open circuit  SM1 or SM2
continues for 0.05 seconds or more. circuit
C1225
3. While switching solenoid (SM1 or SM2) is ON, an open circuit  Brake actuator
continues for 0.05 seconds or more. assembly
4. While switching solenoid (SM1 or SM2) is OFF, current
continues to be applied for 0.1 seconds or more.
5. Short to GND in the switching solenoid (SM1 or SM2)
continues for 0.1 seconds or more.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

6. Switching solenoids SM1 and SM2 are shorted for 0.1 seconds
or more.

WIRING DIAGRAM

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Fig. 35: Skid Control ECU - Wiring Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. RECONFIRM DTC

HINT:

These codes are detected when a problem is determined in the brake actuator assembly.

The solenoid circuits are in the brake actuator assembly. Therefore, solenoid circuit inspection and
solenoid unit inspection cannot be performed. Be sure to check if any DTCs are output before replacing
the brake actuator assembly.

a. Clear the DTCs (See DTC CHECK/CLEAR).

b. Start the engine.

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c. Drive the vehicle at a speed of 20 km/h (12 mph) or more for 30 seconds or more.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C0226, C0236, C0246, C0256 and C1225) are not output A
DTCS (C0226, C0236, C0246, C0256 and/or C1225) are output B

HINT:

 If a speed signal of 6 km/h (4 mph) or more is input to the skid control ECU with the ignition
switch on (IG) and the stop light switch off, the ECU performs self diagnosis of the motor and
solenoid circuits.
 If the normal system code is output (no trouble codes are output), slightly jiggle the connectors,
wire harness, and fuses of the brake actuator assembly. Make sure that no DTCs are output.
 If any DTCs are output while jiggling a connector or wire harness of the brake actuator assembly
(skid control ECU), inspect and repair the connector or wire harness.
 It is suspected that the DTCs were output due to a bad connection of the connector terminal.

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

DTC C0273 OPEN IN ABS MOTOR RELAY CIRCUIT; DTC C0274 SHORT IN ABS MOTOR RELAY
CIRCUIT; DTC C1361 SHORT IN ABS MOTOR FAIL SAFE RELAY CIRCUIT

DESCRIPTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The ABS motor relay supplies power to the ABS pump motor. While the ABS is activated, the ECU turns the
motor relay on and operates the ABS pump motor.

If the voltage supplied to the motor relay (+BM) is below the DTCs detection threshold due to low voltage from
the battery or alternator, these DTCs may be stored.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. All of the following conditions continue for 0.1 seconds

or more.
 The IG1 terminal voltage is between 9.5 and 17.2
 Fusible link block (VSC
V. NO. 1 fuse)

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C0273  While initial check, or ABS, BA, TRAC or VSC is
 ABS motor relay circuit
operating.
 Brake actuator assembly
 Relay contact remains open when the relay is ON.
(ABS motor relay)
2. Both of the following conditions continue for 0.1 seconds
or more.
 The IG1 terminal voltage is less than 9.5 V.

 Relay contact remains open when the relay is ON.

 ABS motor relay circuit

When the motor relay is OFF, the motor relay remains closed
C0274  Brake actuator assembly
for 4 seconds or more.
(ABS motor relay)
 Fusible link block (VSC
NO. 1 fuse)
Immediately after the ignition switch is turned on (IG), the relay  ABS motor fail safe
C1361 contact is closed for 4 seconds when the motor fail safe relay is relay circuit
OFF.  Brake actuator assembly
(ABS motor fail safe
relay)

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 36: ABS Motor Fail Safe Relay - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

HINT:

When C1241 and/or C1417 is output together with C0273, C0274 and/or C1361, inspect and repair the trouble
areas indicated by C1241 and/or C1417 first (See DTC C1241 LOW POWER SUPPLY VOLTAGE
MALFUNCTION, or DTC C1417 HIGH POWER SUPPLY VOLTAGE MALFUNCTION).

1. PERFORM ACTIVE TEST USING TECHSTREAM (ABS MOTOR RELAY)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Tester Display Test Part Control Range Diagnostic Note

Motor Relay ABS motor relay Relay ON/OFF Operating sound of motor can be heard

d. Check for operating sound of the ABS motor relay when operating it with Techstream.

Result

RESULT CHART
Result Proceed to
Operating sound is not heard A
Operating sound is heard B

B: Go to step 5

A: Go to next step

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2. INSPECT VSC NO. 1 FUSE
a. Turn the ignition switch off.
b. Remove the fusible link block from the engine room relay block.
c. Check if the fusible link is melted.

OK:

The fusible link is not melted.

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
VSC NO. 1 (50 A) fuse-Body ground Always Below 1 ohms

NG: REPLACE FUSIBLE LINK BLOCK (VSC NO. 1 FUSE)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 37: Identifying VSC No. 1 Fuse And Fusible Link Block
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. INSPECT SKID CONTROL ECU (+BM TERMINAL)

a. Install the fusible link block to the engine room relay block with the nut.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Condition Specified Condition
A24-24 (+BM) - Body ground Always 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (+BM CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 38: Identifying +BM Terminal Of Skid Control ECU Connector

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. INSPECT SKID CONTROL ECU (GND2 TERMINAL)

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-13 (GND2) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND2 CIRCUIT)

Fig. 39: Identifying GND2 Terminal Of Skid Control ECU Connector

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. RECONFIRM DTC

HINT:

This code is detected when a problem is identified in the brake actuator assembly.

The ABS motor relay is in the brake actuator assembly. Therefore, ABS motor relay inspection and motor
relay unit inspection cannot be performed. Be sure to check if the DTC is output before replacing the
brake actuator assembly.

a. Turn the ignition switch off.

b. Reconnect the skid control ECU connector.

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c. Clear the DTCs (See DTC CHECK/CLEAR).
d. Start the engine.
e. Drive the vehicle at a speed of 20 km/h (12 mph) or more for 30 seconds or more.
f. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C0273, C0274 and C1361) are not output A
DTCs (C0273, C0274 and/or C1361) are output B

HINT:

 If a speed signal of 6 km/h (4 mph) or more is input to the skid control ECU with the ignition
switch on (IG) and the stop light switch off, the ECU performs self diagnosis of the motor and
solenoid circuits.
 If the normal system code is output (no trouble codes are output), slightly jiggle the connectors,
wire harness, and fuses of the brake actuator assembly. Make sure that no DTCs are output.
 If any DTCs are output while jiggling a connector or wire harness of the brake actuator assembly
(skid control ECU), inspect and repair the connector or wire harness.
 It is suspected that the DTCs were output due to a bad connection of the connector terminal.

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

DTC C0278 OPEN IN ABS SOLENOID RELAY CIRCUIT; DTC C0279 SHORT IN ABS SOLENOID
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RELAY CIRCUIT

DESCRIPTION

The ABS solenoid relay supplies power to the ABS solenoid and TRAC solenoid.

The solenoid relay is turned on 1.5 seconds after the ignition switch is turned on (IG), and is turned off if an
open or short in the solenoid is detected by self diagnosis performed when the vehicle starts running. The ABS
solenoid relay is housed in the skid control ECU in the actuator assembly.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. Both of the following conditions continue for 0.2 seconds

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or more.  Fusible link block
 The IG1 terminal voltage is 9.5 V or more. (VSC NO. 2 fuse)
 The solenoid relay contact is open when the relay is  ABS solenoid relay
C0278 ON. circuit
2. Both of the following conditions continue for 0.2 seconds  Brake actuator
or more. assembly (ABS
solenoid relay)
 The IG1 terminal voltage becomes lower than 9.5 V
when the relay is turned on.
 The relay contact remains open.

 ABS solenoid relay

Immediately after the ignition switch is turned on (IG), the circuit
C0279 solenoid relay contact is closed for 4 seconds when the relay is  Brake actuator
turned off. assembly (ABS
solenoid relay)

WIRING DIAGRAM

Refer to DTCs C0226, C0236, C0246, C0256 and C1225 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

HINT:

When C1241 and/or C1417 is output together with C0278 and/or C0279, inspect and repair the trouble areas
indicated by C1241 and/or C1417 first (See DTC C1241 LOW POWER SUPPLY VOLTAGE
MALFUNCTION, or DTC C1417 HIGH POWER SUPPLY VOLTAGE MALFUNCTION).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. INSPECT VSC NO. 2 FUSE

a. Remove the fusible link block from the engine room relay block.
b. Check if the fusible link is melted.

OK:

The fusible link is not melted.

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
VSC NO. 2 (30 A) fuse-Body ground Always Below 1 ohms

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NG: REPLACE FUSIBLE LINK BLOCK (VSC NO. 2 FUSE)

Fig. 40: Identifying Fusible Link Block And VSC No. 2 Fuse
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. INSPECT SKID CONTROL ECU (+BS TERMINAL)

a. Install the fusible link block to the engine room relay block with the nut.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Condition Specified Condition
A24-12 (+BS) - Body ground Always 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (+BS CIRCUIT)

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Fig. 41: Identifying +BS Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. INSPECT SKID CONTROL ECU (GND1 TERMINAL)

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-1 (GND1) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND1 CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 42: Identifying GND1 Terminal Of Skid Control ECU Connector

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. RECONFIRM DTC

HINT:

This code is detected when a problem is identified in the brake actuator assembly.

The solenoid circuit is in the brake actuator assembly.

Therefore, solenoid circuit inspection and solenoid unit inspection cannot be performed. Be sure to check
if the DTC is output before replacing the brake actuator assembly.

a. Reconnect the skid control ECU connector.

b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 20 km/h (12 mph) or more for 30 seconds or more.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C0278 and C0279) are not output A
DTCs (C0278 and/or C0279) are output B

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If a speed signal of 6 km/h (4 mph) or more is input to the skid control ECU with the ignition
switch on (IG) and the stop light switch off, the ECU performs self diagnosis of the motor and
solenoid circuits.
 If the normal system code is output (no trouble codes are output), slightly jiggle the connectors,
wire harnesses, and fuses of the brake actuator assembly. Make sure that no DTCs are output.
 If any DTCs are output while jiggling a connector or wire harness of the brake actuator assembly
(skid control ECU), inspect and repair the connector or wire harness.
 It is suspected that the DTCs were output due to a bad connection of the connector terminal.

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

DTC C0371 YAW RATE SENSOR (TEST MODE DTC); DTC C1279 ACCELERATION SENSOR

cardiagn.com
OUTPUT VOLTAGE MALFUNCTION (TEST MODE DTC)

DESCRIPTION

DTCs C0371 and C1279 can be deleted when the yaw rate and acceleration sensor sends a yaw rate and/or
acceleration signal or when Test Mode ends. DTCs C0371 and C1279 are output only in Test Mode.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area
C0371 Detected only during Test Mode. Yaw rate and acceleration sensor
 Sensor installation
C1279 Detected only during Test Mode.
 Yaw rate and acceleration sensor

WIRING DIAGRAM

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

1. CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION

a. Check that the yaw rate and acceleration sensor has been installed properly (See
INSTALLATION).

OK:

The sensor should be tightened to the specified torque.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The sensor should not be installed in a tilted position.

NG: INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY (See

INSTALLATION)

OK: Go to next step

2. INSPECT YAW RATE AND ACCELERATION SENSOR (IG TERMINAL)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the yaw rate and acceleration sensor connector.
c. Turn the ignition switch on (IG).
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

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VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
O6-4 (IG) - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG CIRCUIT)

Fig. 43: Identifying IG Terminal Of Yaw Rate And Acceleration Sensor

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. INSPECT YAW RATE AND ACCELERATION SENSOR (GND TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
O6-1 (GND) - Body ground Always Below 1 ohms

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND CIRCUIT)

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Fig. 44: Identifying GND Terminal Of Yaw Rate And Acceleration Sensor
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

DTC C1201 ENGINE CONTROL SYSTEM MALFUNCTION

DESCRIPTION

If a malfunction in the engine control system is detected, the operation of VSC and TRAC is prohibited by the
fail safe function. When the signals from the engine are input normally, the fail safe control is cancelled and the
DTC is not stored.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Engine control system malfunction signal continues for 1 second or Engine control
C1201
more. system

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. CHECK ENGINE CONTROL SYSTEM

a. Check if any engine control system DTC is output (See DTC CHECK/CLEAR for 2GR-FE, or
See DTC CHECK/CLEAR for 1 AR-FE).

Result

RESULT CHART
Result Proceed to
DTC is not output (for 2GR-FE) A
DTC is not output (for 1AR-FE) B
DTC is output (for 2GR-FE) C
DTC is output (for 1AR-FE) D

B: REPLACE ECM (for 1 AR-FE) (See REMOVAL )

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C: INSPECT ENGINE CONTROL SYSTEM (for 2GR-FE) (See DIAGNOSTIC TROUBLE
CODE CHART )

D: INSPECT ENGINE CONTROL SYSTEM (for 1 AR-FE) (See DIAGNOSTIC TROUBLE

CODE CHART )

A: REPLACE ECM (for 2GR-FE) (See REMOVAL )

DTC C1203 ECM COMMUNICATION CIRCUIT MALFUNCTION

DESCRIPTION

The circuit is used to send TRAC and VSC control information from the skid control ECU to the ECM, and
engine control information from the ECM to the skid control ECU through the CAN communication system.

DTC DETECTION CONDITION CHART

DTC Trouble
DTC Detection Condition
Code Area
Engine, drive source and destination variations that are sent from the ECM do not
C1203 ECM
match the ones of the skid control ECU.

INSPECTION PROCEDURE

1. CHECK PART NUMBER (ECM AND BRAKE ACTUATOR ASSEMBLY)

a. Check that the proper ECM and brake actuator assembly (skid control ECU) are installed.

OK:

Proper ECUs are installed.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Result

RESULT CHART
Result Proceed to
OK (for 2GR-FE) A
OK (for 1AR-FE) B
NG C

B: REPLACE ECM (for 1AR-FE) (See REMOVAL )

C: REPLACE ECUS WITH PROPER ONES

A: REPLACE ECM (for 2GR-FE) (See REMOVAL )

DTC C1210 ZERO POINT CALIBRATION OF YAW RATE SENSOR UNDONE; DTC C1336 ZERO

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POINT CALIBRATION OF ACCELERATION SENSOR UNDONE

DESCRIPTION

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
GL2). If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN
communication system, DTCs U0123 (yaw rate sensor communication trouble) and U0124 (acceleration sensor
communication trouble) are output.

The DTCs are also output when the calibration has not been completed.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area
C1210 Zero point calibration of yaw rate sensor undone. Yaw rate and acceleration sensor
C1336 Zero point calibration of acceleration sensor undone. Yaw rate and acceleration sensor

WIRING DIAGRAM

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly or yaw rate and acceleration
sensor, perform zero point calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1210 and/or C1336, inspect and repair the trouble
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

areas indicated by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC
U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

1. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR

a. Perform zero point calibration of the yaw rate and acceleration sensor (See CALIBRATION).
2. PERFORM TEST MODE (SIGNAL CHECK)
a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

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HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: END

3. CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION

a. Turn the ignition switch off.
b. Check that the yaw rate and acceleration sensor has been installed properly (See
INSTALLATION).

OK:

The sensor should be tightened to the specified torque.

The sensor should not be installed in a tilted position.

NG: INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY (See

INSTALLATION)

OK: Go to next step

4. READ VALUE ON TECHSTREAM (YAW RATE AND ACCELERATION SENSOR)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Normal
Tester Display Measurement Item/Range Diagnostic Note
Condition
Acceleration sensor/min.: -18.52 Min.: -18.52 m/s2
Deceleration Reading changes when
Sensor m/s2 , max.: 18.39 m/s2 vehicle is bounced
Max.: 18.39 m/s2
Deceleration Acceleration sensor 2/min.: -18.52 Min.:-18.52 m/s2 Reading changes when
Sensor 2 m/s2 , max.: 18.39 m/s2 Max.: 18.39 m/s2 vehicle is bounced
Vehicle
stationary: 0 deg/s
Yaw Rate Yaw rate sensor/ min.: -128 deg/s, Right turn: -128
-
Sensor max.: 127 deg/s to 0 deg/s
Left turn: 0 to 127

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deg/s
Vehicle
stationary: 0 deg/s
Yaw Rate Yaw rate sensor 2/min.: -128 deg/s, Right turn: -128
-
Sensor 2 max.: 127 deg/s to 0 deg/s
Left turn: 0 to 127
deg/s

d. Check that the yaw rate and acceleration sensor output value displayed on Techstream.

OK:

The yaw rate and acceleration sensor output value is normal.

NOTE: Check the yaw rate and acceleration sensor signal after replacement
(See TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1232 ACCELERATION SENSOR STUCK MALFUNCTION; DTC C1243 ACCELERATION

SENSOR STUCK MALFUNCTION; DTC C1245 ACCELERATION SENSOR OUTPUT
MALFUNCTION

DESCRIPTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
GL2).

If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN communication
system, DTCs U0123 (malfunction in CAN communication with the yaw rate sensor) and U0124 (malfunction
in CAN communication with the acceleration sensor) are set.

These DTCs are also output when calibration has not been completed.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Sensor

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
installation
At a vehicle speed of 10 km/h (6 mph) or more, acceleration sensor
C1232  Yaw rate and
output value does not change for 30 seconds or more.
acceleration
sensor
 Sensor
While the vehicle speed changes from 30 km/h (19 mph) to 0 km/h (0 installation
C1243 mph), the condition that the value of acceleration sensor does not change  Yaw rate and
by 0.0294 G or more occurs 16 times or more. acceleration
sensor
 Sensor
At a vehicle speed of 30 km/h (19 mph) or more, the difference between
installation
the forward and backward G calculated from the acceleration sensor
C1245  Yaw rate and
value and that calculated from the vehicle speed sensor exceeds 0.35 G
for 60 seconds or more. acceleration
sensor

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 45: Yaw Rate And Acceleration Sensor - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1232, C1243, and/or C1245, inspect and repair the
trouble areas indicated by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC
U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

1. CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION

a. Check that the yaw rate and acceleration sensor has been installed properly (See
INSTALLATION).

OK:

The sensor should be tightened to the specified torque.

The sensor should not be installed in a tilted position.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY (See

INSTALLATION)

OK: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

DTC C1241 LOW POWER SUPPLY VOLTAGE MALFUNCTION

DESCRIPTION

cardiagn.com
If a malfunction is detected in the power supply circuit, the skid control ECU (housed in the actuator assembly)
stores this DTC and the fail safe function prohibits ABS operation.

This DTC is stored when the IG1 terminal voltage deviates from the DTC detection condition due to a
malfunction in the power supply or charging circuit such as the battery or alternator circuit, etc. The DTC is
cancelled when the IG1 terminal voltage returns to normal.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Any of the following is detected:

1. At a vehicle speed of 3 km/h (2 mph) or more, the IG1

 ECU-IG NO. 2 fuse
terminal voltage is less than 9.5 V for 10 seconds or more.
 Battery
2. When the solenoid relay remains ON and the IG1 terminal
voltage is less than 9.5 V, the relay contact is open for 0.22  Charging system
C1241 seconds or more.  Power source circuit
3. With the IG1 terminal voltage 9.5 V or less, the vehicle  Internal power supply
speed sensor power supply decreases for 60 seconds or more. circuit of the skid
4. When the motor fail safe relay is ON after the motor relay control ECU
turns ON, the IG1 terminal voltage is 9.5 V or less and the
actuator pump drive motor is OFF for 0.22 seconds or more.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 46: Power Supply - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. INSPECT ECU-IG NO. 2 FUSE

a. Remove the ECU-IG NO. 2 fuse from the main body ECU (instrument panel junction block).
b. Measure the resistance according to the value (s) in the table below.

Standard resistance
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
ECU-IG NO. 2 (7.5 A) fuse Always Below 1 ohms

NG: REPLACE ECU-IG NO. 2 FUSE

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Fig. 47: Identifying ECU-IG No. 2 Fuse
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. CHECK BATTERY
a. Install the ECU-IG NO. 2 fuse.
b. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

VEHICLE INSPECTION )

A: Go to next step

3. INSPECT SKID CONTROL ECU (IG1 TERMINAL)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control ECU connector.
c. Turn the ignition switch on (IG).
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-34 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V

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NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG1 CIRCUIT)

Fig. 48: Identifying IG1 Terminal Of Skid Control ECU Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. INSPECT SKID CONTROL ECU (GND1 TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Tester Connection Condition Specified Condition

A24-1 (GND1) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND1 CIRCUIT)

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Fig. 49: Identifying GND1 Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. RECONFIRM DTC
a. Reconnect the skid control ECU connector.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 20 km/h (12 mph) or more for 30 seconds or more.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1241) is not output A
DTC (C1241) is output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

DTC C1271 LOW OUTPUT SIGNAL OF FRONT SPEED SENSOR RH (TEST MODE DTC); DTC
C1272 LOW OUTPUT SIGNAL OF FRONT SPEED SENSOR LH (TEST MODE DTC); DTC C1275
ABNORMAL CHANGE IN OUTPUT SIGNAL OF FRONT SPEED SENSOR RH (TEST MODE DTC);
DTC C1276 ABNORMAL CHANGE IN OUTPUT SIGNAL OF FRONT SPEED SENSOR LH (TEST
MODE DTC)

DESCRIPTION

DTCs C1271 to C1276 will be deleted when the speed sensor sends a vehicle speed signal or when Test Mode
ends. DTCs from C1271 to C1276 are output only in Test Mode.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area

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 Front speed sensor RH/LH
C1271
Detected only during Test Mode.  Sensor installation
C1272
 Speed sensor rotor
C1275
Detected only during Test Mode. Speed sensor rotor
C1276

HINT:

 DTCs C1271 and C1275 are for the front speed sensor RH.
 DTCs C1272 and C1276 are for the front speed sensor LH.

WIRING DIAGRAM

Refer to DTCs C1401 and C1402 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition
Display Note
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

FR Speed FR speed sensor open ERROR: Momentary interruption

-
Open detection/ERROR or NORMAL NORMAL: Normal
FL Speed FL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

Result

RESULT CHART
Result Proceed to
There are momentary interruptions A
There are no momentary interruptions B
There is a constant open circuit C

HINT:

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Perform the above inspection before removing the sensor and connector.

B: Go to step 4

C: Go to step 6

A: Go to next step

2. REPAIR OR REPLACE HARNESS OR CONNECTOR (SKID CONTROL ECU - FRONT

SPEED SENSOR)
a. Turn the ignition switch off.
b. Repair or replace the harness or connector.
c. Check for any momentary interruption between the skid control ECU and the front speed sensor
(See CHECK FOR INTERMITTENT PROBLEMS).
d. Check that there are no momentary interruptions.
3. PERFORM TEST MODE (SIGNAL CHECK)
a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: Go to step 4

OK: END

4. READ VALUE ON TECHSTREAM (FRONT SPEED SENSOR)

a. Turn the ignition switch off.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Connect Techstream to the DLC3.

c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
FR Wheel FR wheel speed sensor reading/min.: 0 km/h Actual wheel Similar speed as
Speed (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
FL Wheel FL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed

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on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

NG: Go to step 6

OK: Go to next step

5. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: Go to step 6

OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See

DIAGNOSIS SYSTEM)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

6. CHECK FRONT SPEED SENSOR INSTALLATION

a. Turn the ignition switch off.
b. Check the speed sensor installation.

OK:

There is no clearance between the sensor and the front steering knuckle.

The installation nut is tightened properly.

Torque:

8.0 N*m (82 kgf*cm, 71 in.*lbf)

NG: INSTALL FRONT SPEED SENSOR CORRECTLY (See INSTALLATION)

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Fig. 50: Identifying Front Speed Sensor Proper Installation Position
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. CHECK FRONT SPEED SENSOR TIP

a. Remove the front speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: CLEAN OR REPLACE FRONT SPEED SENSOR

OK: Go to next step

8. CHECK FRONT SPEED SENSOR ROTOR

a. Remove the front speed sensor rotor (See REMOVAL for 2GR-FE, or See REMOVAL for 1AR-
FE).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

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HINT:

If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard joint
shaft assembly.

NG: CLEAN OR REPLACE FRONT SPEED SENSOR ROTOR

OK: Go to next step

9. INSPECT FRONT SPEED SENSOR

a. Install the front speed sensor and the front speed sensor rotor.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the front speed sensor connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FR+) - Body ground Always 10 kohms or higher
1 (FR-) - Body ground Always 10 kohms or higher

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

2 (FL+) - Body ground Always 10 kohms or higher

1 (FL-) - Body ground Always 10 kohms or higher

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Fig. 51: Measuring Resistance Between Front Speed Sensor Connector Terminal
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

NG: REPLACE FRONT SPEED SENSOR (See REMOVAL)

OK: Go to next step

10. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - FRONT SPEED SENSOR)
a. Make sure that there is no looseness at the locking part and the connecting part of the connector.
b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-7 (FR+) - A29-2 (FR+) Always Below 1 ohms
A24-7 (FR+) - Body ground Always 10 kohms or higher
A24-6 (FR-) - A29-1 (FR-) Always Below 1 ohms
A24-6 (FR-) - Body ground Always 10 kohms or higher

for LH
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-19 (FL+) - A12-2 (FL+) Always Below 1 ohms
A24-19 (FL+) - Body ground Always 10 kohms or higher
A24-18 (FL-) - A12-1 (FL-) Always Below 1 ohms
A24-18 (FL-) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

cardiagn.com
Fig. 52: Identifying Skid Control ECU And Front Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

11. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Turn the ignition switch on (IG).

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

Standard voltage:

for RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A29-2 (FR+) - Body ground Ignition switch on (IG) 8 to 14 V

for LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition

cardiagn.com
A12-2 (FL+) - Body ground Ignition switch on (IG) 8 to 14 V

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

Fig. 53: Identifying Front Speed Sensor Connector Terminals

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

12. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: Go to step 13

OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See

DIAGNOSIS SYSTEM)

13. REPLACE FRONT SPEED SENSOR

a. Turn the ignition switch off.
b. Replace the front speed sensor (See REMOVAL).

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

14. PERFORM TEST MODE (SIGNAL CHECK)

a. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

cardiagn.com
OK:

All Test Mode DTCs are erased.

NG: Go to step 15

OK: END

15. REPLACE FRONT SPEED SENSOR ROTOR

a. Turn the ignition switch off.
b. Remove the front drive shaft assembly (See REMOVAL for 2GR-FE, or See REMOVAL for
1AR-FE).
c. Replace the front drive outboard joint shaft assembly (front speed sensor rotor) (See
DISASSEMBLY for 2GR-FE, or See DISASSEMBLY for 1 AR-FE).

HINT:

If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard
joint shaft assembly.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

16. PERFORM TEST MODE (SIGNAL CHECK)

a. Install the front drive shaft assembly.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

All Test Mode DTCs are erased.

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: END

DTC C1273 LOW OUTPUT SIGNAL OF REAR SPEED SENSOR RH (TEST MODE DTC); DTC
C1274 LOW OUTPUT SIGNAL OF REAR SPEED SENSOR LH (TEST MODE DTC); DTC C1277
ABNORMAL CHANGE IN OUTPUT SIGNAL OF REAR SPEED SENSOR RH (TEST MODE DTC);
DTC C1278 ABNORMAL CHANGE IN OUTPUT SIGNAL OF REAR SPEED SENSOR LH (TEST
MODE DTC)

DESCRIPTION

DTCs C1273 to C1278 will be deleted when the speed sensor sends a vehicle speed signal or when Test Mode
ends. DTCs from C1273 to C1278 are output only in Test Mode.

cardiagn.com
DTC DETECTION CONDITION CHART
DTC Code DTC Detection Condition Trouble Area
 Rear speed sensor RH/LH
C1273
Detected only during Test Mode.  Sensor installation
C1274
 Speed sensor rotor
C1277
Detected only during Test Mode. Speed sensor rotor
C1278

HINT:

 DTCs C1273 and C1277 are for the rear speed sensor RH.
 DTCs C1274 and C1278 are for the rear speed sensor LH.

WIRING DIAGRAM

Refer to DTCs C1403 and C1404 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition
Display Note
RR Speed RR speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal
RL Speed RL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

Result

RESULT CHART
Result Proceed to
There are momentary interruptions A
There are no momentary interruptions B
There is a constant open circuit C

cardiagn.com
HINT:

Perform the above inspection before removing the sensor and connector.

B: Go to step 4

C: Go to step 6

A: Go to next step

2. REPAIR OR REPLACE HARNESS OR CONNECTOR (SKID CONTROL ECU - REAR SPEED

SENSOR)
a. Turn the ignition switch off.
b. Repair or replace the harness or connector.
c. Check for any momentary interruption between the skid control ECU and the rear speed sensor
(See CHECK FOR INTERMITTENT PROBLEMS).
d. Check that there are no momentary interruptions.
3. PERFORM TEST MODE (SIGNAL CHECK)
a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: Go to step 4

OK: END
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. READ VALUE ON TECHSTREAM (REAR SPEED SENSOR)

a. Turn the ignition switch off.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
RR Wheel RR wheel speed sensor reading/min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
RL Wheel RL wheel speed sensor reading/min.: 0 Actual wheel Similar speed as

cardiagn.com
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

NG: Go to step 6

OK: Go to next step

5. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: Go to step 6
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See

DIAGNOSIS SYSTEM)

6. CHECK REAR SPEED SENSOR INSTALLATION

a. Turn the ignition switch off.
b. Check the speed sensor installation (for 2WD).

OK:

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

c. Check the speed sensor installation (for 4WD).

OK:

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

cardiagn.com
The installation nut is tightened properly.

Torque:

8.0 N*m (82 kgf*cm, 71 in.*lbf)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 54: Identifying Rear Speed Sensor Proper Installation Position
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for 4WD) A
OK (for 2WD) B
NG (for 2WD) C
NG (for 4WD) D

B: Go to step 9

C: INSTALL REAR SPEED SENSOR CORRECTLY (for 2WD) (See INSTALLATION)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

D: INSTALL REAR SPEED SENSOR CORRECTLY (for 4WD) (See INSTALLATION)

A: Go to next step

7. CHECK REAR SPEED SENSOR TIP

a. Remove the rear speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

cardiagn.com
NG: CLEAN OR REPLACE REAR SPEED SENSOR

OK: Go to next step

8. CHECK REAR SPEED SENSOR ROTOR

a. Remove the rear speed sensor rotor (See REMOVAL ).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

HINT:

If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.

NG: CLEAN OR REPLACE REAR SPEED SENSOR ROTOR

OK: Go to next step

9. INSPECT REAR SPEED SENSOR

a. Install the rear speed sensor and the rear speed sensor rotor.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the rear speed sensor connector.
d. Measure the resistance according to the value (s) in the table below.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Standard resistance:

for 2WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (RR+) - Body ground Always 10 kohms or higher
1 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
1 (RR+) - Body ground Always 10 kohms or higher
2 (RR-) - Body ground Always 10 kohms or higher

cardiagn.com
for 2WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (RL+) - Body ground Always 10 kohms or higher
1 (RL-) - Body ground Always 10 kohms or higher

for 4WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
1 (RL+) - Body ground Always 10 kohms or higher
2 (RL-) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 55: Measuring Resistance Between Rear Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for 2WD) A
OK (for 4WD) B
NG (for 2WD) C
NG (for 4WD) D
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

B: Go to step 11

C: REPLACE REAR SPEED SENSOR (for 2WD) (See REMOVAL)

D: REPLACE REAR SPEED SENSOR (for 4WD) (See REMOVAL)

A: Go to next step

10. CHECK HARNESS AND CONNECTOR (SKID CONTROL SENSOR WIRE)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control sensor wire.
c. Measure the resistance according to the value (s) in the table below.

cardiagn.com
Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z9 ("A"-2) - z9 ("B"-1) Always Below 1 ohms
z9 ("A"-2) - z9 ("B"-2) Always 10 kohms or higher
z9 ("A"-2) - Body ground Always 10 kohms or higher
z9 ("A"-1) - z9 ("B"-2) Always Below 1 ohms
z9 ("A"-1) - z9 ("B"-1) Always 10 kohms or higher
z9 ("A"-1) - Body ground Always 10 kohms or higher

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z10 ("A"-2) - z10 ("B"-1) Always Below 1 ohms
z10 ("A"-2) - z10 ("B"-2) Always 10 kohms or higher
z10 ("A"-2) - Body ground Always 10 kohms or higher
z10 ("A"-1) - z10 ("B"-2) Always Below 1 ohms
z10 ("A"-1) - z10 ("B"-1) Always 10 kohms or higher
z10 ("A"-1) - Body ground Always 10 kohms or higher

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 56: Identifying Skid Control Sensor Wire Connector Terminals

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NG: REPLACE SKID CONTROL SENSOR WIRE

OK: Go to next step

11. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - REAR SPEED SENSOR)
a. Reconnect the skid control sensor wire (for 2WD).
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for 2WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - z9-2 (RR+) Always Below 1 ohms.
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - z9-1 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - N20-1 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A24-16 (RR-) - N20-2 (RR-) Always Below 1 ohms

A24-16 (RR-) - Body ground Always 10 kohms or higher

for 2WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-5 (RL+) - z10-2 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - z10-1 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher

for 4WD LH

RESISTANCE SPECIFICATION

cardiagn.com
Tester Connection Condition Specified Condition
A24-5 (RL+) - O39-1 (RL+) Always Below 1 ohms
A24-S (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - O39-2 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 57: Identifying Skid Control ECU And Rear Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

12. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

for 2WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
z9-2 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
N20-1 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 2WD LH

VOLTAGE SPECIFICATION

cardiagn.com
Tester Connection Switch Condition Specified Condition
z10-2 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
O39-1 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 58: Identifying Skid Control ECU Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

13. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2WD) B
NG (for 4WD) C
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: Go to step 14

C: Go to step 16

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

14. REPLACE REAR SPEED SENSOR AND REAR SPEED SENSOR ROTOR
a. Turn the ignition switch off.
b. Replace the rear speed sensor (See REMOVAL).
c. Replace the rear axle hub and bearing assembly (rear speed sensor rotor) (See ON-VEHICLE
INSPECTION ).

HINT:

cardiagn.com
The rear speed sensor rotor is incorporated into the rear axle hub and bearing assembly.

If the rear speed sensor rotor needs to be replaced, replace it together with the rear axle hub and
bearing assembly with rear speed sensor.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

15. PERFORM TEST MODE (SIGNAL CHECK)

a. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: END

16. REPLACE REAR SPEED SENSOR

a. Turn the ignition switch off.
b. Replace the rear speed sensor (See REMOVAL).

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

17. PERFORM TEST MODE (SIGNAL CHECK)

a. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

All Test Mode DTCs are erased.

NG: Go to step 18

OK: END

18. REPLACE REAR SPEED SENSOR ROTOR

a. Turn the ignition switch off.
b. Remove the rear drive shaft assembly (See REMOVAL ).
c. Replace the outboard joint shaft assembly (rear speed sensor rotor) (See DISASSEMBLY ).

HINT:

If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.

cardiagn.com
NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

19. PERFORM TEST MODE (SIGNAL CHECK)

a. Install the rear drive shaft assembly.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: END

DTC C1281 MASTER CYLINDER PRESSURE SENSOR OUTPUT MALFUNCTION (TEST MODE
DTC)

DESCRIPTION

DTC C1281 will be deleted when the master cylinder pressure sensor sends a master cylinder pressure signal or
when Test Mode ends. DTC C1281 is output only in Test Mode.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area
 Stop light switch
C1281 Detected only during Test Mode.  Brake pedal load sensing switch
 Master cylinder pressure sensor
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

WIRING DIAGRAM

Refer to DTCs C1425 and C1429 (See WIRING DIAGRAM, or DTC C1429 OPEN OR SHORT IN
BRAKE PEDAL LOAD SENSING SWITCH).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK STOP LIGHT OPERATION

a. Check that the stop lights come on when the brake pedal is depressed, and go off when the brake
pedal is released.

OK

cardiagn.com
BRAKE PEDAL
Condition Illumination Condition
Brake pedal depressed ON
Brake pedal released OFF

NG: INSPECT STOP LIGHT CIRCUIT (See PROBLEM SYMPTOMS TABLE )

OK: Go to next step

2. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH AND BRAKE PEDAL LOAD
SENSING SWITCH)
a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released
ON: Brake pedal depressed
Brake Pedal Load Brake pedal load sensing beyond the specified point
-
Sensing SW switch/ON or OFF OFF: Brake pedal not depressed
beyond the specified point

d. Check that the stop light switch display and brake pedal load sensing switch display observed on
Techstream change according to brake pedal operation.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK:

The Techstream displays ON or OFF according to brake pedal operation.

e. Slowly depress the brake pedal, and check when the stop light switch and brake pedal load sensing
switch turn ON.

OK:

First the stop light switch should turn ON, and then the brake pedal load sensing switch
should turn ON.

Result

RESULT CHART
Result Proceed to

cardiagn.com
OK A
NG (Turning on of the stop light switch is not confirmed) B
NG (Turning on of the brake pedal load sensing switch is not confirmed) C
NG (The brake pedal load sensing switch turns on first) D

B: Go to step 5

C: Go to step 6

D: Go to step 7

A: Go to next step

3. READ VALUE ON TECHSTREAM (MASTER CYLINDER PRESSURE SENSOR)

a. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester
Measurement Item/Range Normal Condition Diagnostic Note
Display
Master
Master cylinder pressure When brake pedal is Reading increases when
Cylinder
sensor/min.: 0 V, max.: 5 V released: 0.3 to 0.9 V brake pedal is depressed
Sensor

b. Check that the brake fluid pressure value of the master cylinder pressure sensor observed on
Techstream changes when the brake pedal is depressed.

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

When the pedal is depressed, voltage displayed on Techstream increases.

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: Go to next step

4. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

cardiagn.com
OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See
DIAGNOSIS SYSTEM)

5. INSPECT SKID CONTROL ECU (STP TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-2 (STP) - Body ground Stop light switch ON (Brake pedal depressed) 8 to 14 V
A24-2 (STP) - Body ground Stop light switch OFF (Brake pedal released) Below 1.5 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (STP CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 59: Identifying STP Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

6. INSPECT SKID CONTROL ECU (FSW+ TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Specified
Tester Connection Switch Condition
Condition
A24-27 (FSW+) - Body Brake pedal load sensing switch OFF (Brake pedal
0.9 to 1.1 kohms
ground depressed)
A24-27 (FSW+) - Body Brake pedal load sensing switch ON (Brake pedal
192 to 234 ohms
ground released)

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (FSW+ CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 60: Identifying FSW+ Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

7. CHECK BRAKE PEDAL AND STOP LIGHT SWITCH INSTALLATION

a. Turn the ignition switch off.
b. Check the brake pedal height and stop light switch installation (See ADJUSTMENT ).

OK:

The brake pedal height and stop light switch installation are normal.

NG: ADJUST BRAKE PEDAL OR STOP LIGHT SWITCH (See ADJUSTMENT )

OK: REPLACE BRAKE PEDAL SUB-ASSEMBLY (BRAKE PEDAL LOAD SENSING

SWITCH) (See DISASSEMBLY )

DTC C1290 STEERING ANGLE SENSOR ZERO POINT MALFUNCTION

DESCRIPTION

The skid control ECU acquires steering angle sensor zero point every time the ignition switch is turned on (IG)
and the vehicle is driven at 35 km/h (22 mph) or more for approximately 5 seconds. The ECU also stores the
previous zero point.

If front wheel alignment or the steering wheel position is adjusted without disconnecting the negative battery
terminal, or if yaw rate and acceleration sensor zero point is not acquired after the adjustments have been
completed, the skid control ECU detects the difference between the previous zero point and newly acquired
zero point and outputs this DTC to indicate a poor adjustment.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Warning operation for the steering angle sensor zero point malfunction will be cancelled by turning the ignition
switch off.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Yaw rate and acceleration sensor zero
point calibration incomplete
The newly acquired steering angle sensor zero  Poor adjustment of the center position
C1290
point vastly differs from the previous one. of the steering wheel
 Poor adjustment of front wheel
alignment

INSPECTION PROCEDURE

cardiagn.com
NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR

a. Perform zero point calibration of the yaw rate and acceleration sensor (See CALIBRATION).

HINT:

When the stored zero point of the yaw rate and acceleration sensor is erased, steering angle

sensor zero point will also be erased.
 If the zero point and output value of the yaw rate and acceleration sensor and the output
value of the speed sensors are not normal, steering angle sensor zero point cannot be acquired
normally even if the vehicle is driven straight ahead at 35 km/h (22 mph) or more.
2. CHECK STEERING ANGLE SENSOR ZERO POINT CALIBRATION
a. Turn the ignition switch off.
b. Start the engine.
c. Drive the vehicle straight ahead at 35 km/h (22 mph) or more for at least 5 seconds.
d. Check that the center position of the steering wheel is correctly set while driving straight ahead.

HINT:

If front wheel alignment and steering position are adjusted as a result of an abnormal center
position of the steering wheel, acquire yaw rate and acceleration sensor zero point again after
adjusting front wheel alignment and steering position again.

OK:

The center position of the steering wheel is correctly set.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: ADJUST FRONT WHEEL ALIGNMENT OR STEERING POSITION (See FRONT WHEEL
ALIGNMENT )

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle and turn the steering wheel to the right and left at a speed of 35 km/h (22 mph) or
more.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

cardiagn.com
RESULT CHART
Result Proceed to
DTC (C1290) is not output A
DTC (C1290) is output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: END

DTC C1337 DIFFERENT DIAMETER TIRE MALFUNCTION

DESCRIPTION

The skid control ECU measures the speed of each wheel by receiving signals from the speed sensor. These
signals are used for recognizing that all 4 wheels are operating properly.

Therefore, all wheel signals must be equal.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code

 Tire and wheel size

 Tire deformation
The following occurs in 3 consecutive trips:  Speed sensor rotor
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

At a vehicle speed of 20 km/h (12 mph) or more, there is a 20 %  Speed sensor

difference or greater in the average speed between the front wheels
 Speed sensor circuit
C1337 and rear wheels for 20 seconds or more.  Brake actuator
assembly (Skid control
ECU)

WIRING DIAGRAM

cardiagn.com
Fig. 61: Different Diameter Tire Malfunction - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK TIRES
a. Check the size and condition of all 4 wheels (See INSPECTION ).

HINT:

The DTC is output when tire deformation or a difference in tire size is detected.

OK:

The diameter of all 4 tires and air pressure are the same.

Result

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RESULT CHART
Result Proceed to
OK (Except for rear 2WD) A
OK (for rear 2WD) B
NG C

B: Go to step 4

C: REPLACE TIRES SO THAT ALL FOUR TIRES ARE SAME SIZE

A: Go to next step

2. CHECK EACH SPEED SENSOR TIP

a. Remove the front speed sensor or the rear speed sensor (See REMOVAL for front, or REMOVAL
for rear).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

NG: CLEAN OR REPLACE EACH SPEED SENSOR

OK: Go to next step

3. CHECK EACH SPEED SENSOR ROTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Remove the front speed sensor rotor or the rear speed sensor rotor (See REMOVAL 2GR-FE for
front, See REMOVAL 1AR-FE for front, or See REMOVAL for rear).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

HINT:

 If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard
joint shaft assembly.

cardiagn.com
 If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.

NG: CLEAN OR REPLACE EACH SPEED SENSOR ROTOR

OK: Go to next step

4. INSPECT EACH SPEED SENSOR

a. Install the speed sensor and the speed sensor rotor.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect each speed sensor connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for 2WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FR+) - Body ground Always 10 kohms or higher
1 (FR-) - Body ground Always 10 kohms or higher
2 (RR+) - Body ground Always 10 kohms or higher
1 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FR+) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1 (FR-) - Body ground Always 10 kohms or higher

1 (RR+) - Body ground Always 10 kohms or higher
2 (RR-) - Body ground Always 10 kohms or higher

for 2WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FL+) - Body ground Always 10 kohms or higher
1 (FL-) - Body ground Always 10 kohms or higher
2 (RL+) - Body ground Always 10 kohms or higher
1 (RL-) - Body ground Always 10 kohms or higher

for 4WD LH

cardiagn.com
RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FL+) - Body ground Always 10 kohms or higher
1 (FL-) - Body ground Always 10 kohms or higher
1 (RL+) - Body ground Always 10 kohms or higher
2 (RL-) - Body ground Always 10 kohms or higher
2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 62: Measuring Resistance Between Speed Sensor Connector Terminals

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for rear 2WD) A
OK (Except for rear 2WD) B
NG C

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

B: Go to step 6

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C: REPLACE EACH SPEED SENSOR

A: Go to next step

5. CHECK HARNESS AND CONNECTOR (SKID CONTROL SENSOR WIRE)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control sensor wire.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z9 ("A"-2) - z9 ("B"-1) Always Below 1 ohms
z9 ("A"-2) - z9 ("B"-2) Always 10 kohms or higher
z9 ("A"-2) - Body ground Always 10 kohms or higher
z9 ("A"-1) - z9 ("B"-2) Always Below 1 ohms
z9 ("A"-1) - z9 ("B"-1) Always 10 kohms or higher
z9 ("A"-1) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 63: Identifying Skid Control Sensor Wire Connector Terminals

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z10 ("A"-2) - z10 ("B"-1) Always Below 1 ohms
z10 ("A"-2) - z10 ("B"-2) Always 10 kohms or higher
z10 ("A"-2) - Body ground Always 10 kohms or higher
z10 ("A"-1) - z10 ("B"-2) Always Below 1 ohms
z10 ("A"-1) - z10 ("B"-1) Always 10 kohms or higher
z10 ("A"-1) - Body ground Always 10 kohms or higher

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

NG: REPLACE SKID CONTROL SENSOR WIRE

OK: Go to next step

6. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - EACH SPEED SENSOR)
a. Reconnect the skid control sensor wire (for 2WD).
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for 2WD RH
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-7 (FR+) - A29-2 (FR+) Always Below 1 ohms
A24-7 (FR+) - Body ground Always 10 kohms or higher
A24-6 (FR-) - A29-1 (FR-) Always Below 1 ohms
A24-6 (FR-) - Body ground Always 10 kohms or higher
A24-17 (RR+) - z9-2 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - z9-1 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION

cardiagn.com
Tester Connection Condition Specified Condition
A24-7 (FR+) - A29-2 (FR+) Always Below 1 ohms
A24-7 (FR+) - Body ground Always 10 kohms or higher
A24-6 (FR-) - A29-1 (FR-) Always Below 1 ohms
A24-6 (FR-) - Body ground Always 10 kohms or higher
A24-17 (RR+) - N20-1 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - N20-2 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 64: Identifying Skid Control ECU And Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

for 2WD LH

RESISTANCE SPECIFICATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Tester Connection Condition Specified Condition

A24-19 (FL+) - A12-2 (FL+) Always Below 1 ohms
A24-19 (FL+) - Body ground Always 10 kohms or higher
A24-18 (FL-) - A12-1 (FL-) Always Below 1 ohms
A24-18 (FL-) - Body ground Always 10 kohms or higher
A24-5 (RL+) - z10-2 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - z10-1 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher

for 4WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition

cardiagn.com
A24-19 (FL+) - A12-2 (FL+) Always Below 1 ohms
A24-19 (FL+) - Body ground Always 10 kohms or higher
A24-18 (FL-) - A12-1 (FL-) Always Below 1 ohms
A24-18 (FL-) - Body ground Always 10 kohms or higher
A24-5 (RL+) - O39-1 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - O39-2 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

OK: Go to next step

7. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:

for 2WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A29-2 (FR+) - Body ground Ignition switch on (IG) 8 to 14 V
z9-2 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD RH
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A29-2 (FR+) - Body ground Ignition switch on (IG) 8 to 14 V
N20-1 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 2WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A12-2 (FL+) - Body ground Ignition switch on (IG) 8 to 14 V
z10-2 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD LH

VOLTAGE SPECIFICATION

cardiagn.com
Tester Connection Switch Condition Specified Condition
A12-2 (FL+) - Body ground Ignition switch on (IG) 8 to 14 V
O39-1 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 65: Identifying Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

8. RECONFIRM DTC
a. Turn the ignition switch off.
b. Reconnect the speed sensor connectors.
c. Clear the DTCs (See DTC CHECK/CLEAR).
d. Start the engine.
e. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
f. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Result Proceed to
DTC (C1337) is output (Except for rear 2WD) A
DTC (C1337) is output (for rear 2WD) B
DTC (C1337) is not output C

B: Go to step 13

C: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

A: Go to next step

9. REPLACE EACH SPEED SENSOR

a. Turn the ignition switch off.
b. Replace the front speed sensor or the rear speed sensor (See REMOVAL for front, or REMOVAL

cardiagn.com
for rear).

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

10. RECONFIRM DTC

a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1337) is output A
DTC (C1337) is not output B

B: END

A: Go to next step

11. REPLACE EACH SPEED SENSOR ROTOR

a. Turn the ignition switch off.
b. Remove the front drive shaft assembly or the rear drive shaft assembly (See REMOVAL 2GR-FE
for front, See REMOVAL 1AR-FE for front, or See REMOVAL for rear).
c. Replace the front drive outboard joint shaft assembly (front speed sensor rotor) or the outboard
joint shaft assembly (rear speed sensor rotor) (See DISASSEMBLY 2GR-FE for front, See
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DISASSEMBLY 1AR-FE for front, or See DISASSEMBLY for rear).

HINT:

 If the front speed sensor rotor needs to be replaced, replace it together with the front drive
outboard joint shaft assembly.
 If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint
shaft assembly.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

12. RECONFIRM DTC

a. Install the drive shaft assembly.
b. Clear the DTCs (See DTC CHECK/CLEAR).

cardiagn.com
c. Start the engine.
d. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1337) is output A
DTC (C1337) is not output B

B: END

A: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

13. REPLACE REAR SPEED SENSOR AND REAR SPEED SENSOR ROTOR
a. Turn the ignition switch off.
b. Replace the rear speed sensor (See REMOVAL).
c. Replace the rear axle hub and bearing assembly (rear speed sensor rotor) (See ON-VEHICLE
INSPECTION ).

HINT:

The rear speed sensor rotor is incorporated into the rear axle hub and bearing assembly.

If the rear speed sensor rotor needs to be replaced, replace it together with the rear axle hub and
bearing assembly with rear speed sensor.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

PROCEDURE).

14. RECONFIRM DTC

a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1337) is output A
DTC (C1337) is not output B

cardiagn.com
B: END

A: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1379 DOWNHILL ASSIST CONTROL SWITCH MALFUNCTION (TEST MODE DTC)

DESCRIPTION

DTC C1379 will be deleted when the downhill assist control switch sends a downhill assist control operation
signal or when Test Mode ends. DTC C1379 is output only in Test Mode.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area
C1379 Detected only during Test Mode. Downhill assist control switch

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 66: Downhill Assist Control Switch Malfunction - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. READ VALUE ON TECHSTREAM (DOWNHILL ASSIST CONTROL SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Normal Diagnostic
Tester Display Measurement Item/Range
Condition Note
Downhill Assist Control Downhill assist control switch/ON or ON: Switch ON
-
SW OFF OFF: Switch OFF

d. Using Techstream, check the switch condition on Techstream changes according to downhill assist
control switch operation.

OK:

The Techstream displays ON or OFF according to downhill assist control switch operation.

NG: Go to step 3
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK: Go to next step

2. PERFORM TEST MODE (SIGNAL CHECK)

a. Turn the ignition switch off.
b. Perform the sensor check in the Test Mode procedure (See TEST MODE PROCEDURE).

OK:

All Test Mode DTCs are erased.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

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OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See
DIAGNOSIS SYSTEM)

3. INSPECT DOWNHILL ASSIST CONTROL SWITCH

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the downhill assist control switch connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
4 (B) -1 (E) Switch is pushed in Below 1 ohms
4 (B) -1 (E) Switch is not pushed in 10 kohms or higher

NOTE: Check the downhill assist control switch signal after replacement (See
TEST MODE PROCEDURE).

NG: REPLACE DOWNHILL ASSIST CONTROL SWITCH (See DOWNHILL ASSIST

CONTROL SWITCH (FOR 4WD))
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 67: Inspecting Downhill Assist Control Switch

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - DOWNHILL ASSIST

CONTROL SWITCH)
a. Make sure that there is no looseness at the locking part and the connecting part of the connector.
b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-26 (HDCS) - g2-4 (B) Always Below 1 ohms
A24-26 (HDCS) - Body ground Always 10 kohms or higher
g2-1 (E) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 68: Identifying Skid Control ECU And Downhill Assist Control Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1380 STOP LIGHT CONTROL RELAY MALFUNCTION

DESCRIPTION

Upon receiving the downhill assist control (for 4WD) or hill-start assist control operating signal from the skid
control ECU, the relay contact turns on and the stop light comes on.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code

Either of the following is detected:  Stop light switch

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. When the voltage at the IG1 terminal is between 10 and 14 V  Stop light switch
and the stop light control relay drive output (STPO) is ON, a circuit
signal has not been input to the STP terminal for 5 seconds or  Stop light control
more. relay
C1380 2. When the voltage at the IG1 terminal is between 10 and 14 V  Stop light control
and the stop light control relay drive output (STPO) is OFF, the relay circuit
signal at the STP is different from the input signal at the STP2
 Brake actuator
for 5 seconds or more.
assembly (Skid
control ECU)

WIRING DIAGRAM

Refer to DTC C1425 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

cardiagn.com
NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

HINT:

When C1425 and/or C1426 is output together with C1380, inspect and repair the trouble areas indicated by
C1425 and/or C1426 first (See DTC C1425 OPEN IN STOP LIGHT SWITCH CIRCUIT, or DTC C1426
STOP LIGHT SWITCH OFF STUCK MALFUNCTION).

1. CHECK STOP LIGHT OPERATION

a. Check that the stop lights come on when the brake pedal is depressed, and go off when the brake
pedal is released.

OK

STOP LIGHT OPERATION CONDITION REFERENCE

Condition Illumination Condition
Brake pedal depressed ON
Brake pedal released OFF

NG: INSPECT STOP LIGHT CIRCUIT (See PROBLEM SYMPTOMS TABLE )

OK: Go to next step

2. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released

d. Check that the stop light switch condition observed on Techstream changes according to brake
pedal operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

NG: Go to step 9

cardiagn.com
OK: Go to next step

3. INSPECT SKID CONTROL ECU (STP2 TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-2 (STP) - A24-22 (STP2) Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (STP2 CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 69: Identifying STP And STP2 Terminal Of Skid Control ECU Connector

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

OK: Go to next step

4. PERFORM ACTIVE TEST USING TECHSTREAM (STOP LIGHT CONTROL RELAY)

a. Reconnect the skid control ECU connector.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Stop Light Relay Stop light control relay Relay ON/OFF Stop lights come on

e. Check that the "ON" and "OFF" of the stop lights can be shown on the rear combination light by
Techstream.

OK:

The stop lights turn on or off in accordance with Techstream.

NG: Go to step 6

OK: Go to next step

5. RECONFIRM DTC
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Turn the ignition switch off.

b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Perform a road test.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1380) is not output A
DTC (C1380) is output B

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

cardiagn.com
A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS
SYSTEM)

6. INSPECT STOP LIGHT CONTROL RELAY

a. Turn the ignition switch off.
b. Remove the stop light control relay.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
3-4 Voltage is not applied between terminals 1 and 2 Below 1 ohms
3-5 Voltage is not applied between terminals 1 and 2 10 kohms or higher
3-4 Voltage is applied between terminals 1 and 2 10 kohms or higher
3-5 Voltage is applied between terminals 1 and 2 Below 1 ohms

NG: REPLACE STOP LIGHT CONTROL RELAY

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 70: Stop Light Control Relay Circuit Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. INSPECT ENGINE ROOM RELAY BLOCK (POWER SOURCE TERMINAL)

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

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Condition Specified Condition
Stop light control relay terminal 5 - Body ground Always 11 to 14 V
Stop light control relay terminal 2 - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 71: Identifying Stop Light Control Relay Terminal
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

8. INSPECT SKID CONTROL ECU (STPO TERMINAL)

a. Install the stop light control relay.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Turn the ignition switch on (IG).
e. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-31 (STPO) - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (STPO CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 72: Identifying STPO Terminal Of Skid Control ECU Connector

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

9. INSPECT SKID CONTROL ECU (STP TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the skid control ECU connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-2 (STP) - Body ground Stop light switch ON (Brake pedal depressed) 8 to 14 V
A24-2 (STP) - Body ground Stop light switch OFF (Brake pedal released) Below 1.5 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (STP CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 73: Identifying STP Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1381 ACCELERATION SENSOR POWER SUPPLY VOLTAGE MALFUNCTION

DESCRIPTION

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
GL2).

If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN communication
system, DTCs U0123 (malfunction in CAN communication with the yaw rate sensor) and U0124 (malfunction
in CAN communication with the acceleration sensor) are set.

These DTCs are also output when calibration has not been completed.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Yaw rate and acceleration
At a vehicle speed of more than 3 km/h (2 mph), an
sensor power source circuit
C1381 acceleration sensor power source malfunction signal is
received for 10 seconds or more.  Yaw rate and acceleration
sensor

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1381, inspect and repair the trouble areas indicated
by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE COMMUNICATION BUS
OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC U0123 LOST
COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

cardiagn.com
1. INSPECT YAW RATE AND ACCELERATION SENSOR (IG TERMINAL)
a. Make sure that there is no looseness at the locking part and the connecting part of the connector.
b. Disconnect the yaw rate and acceleration sensor connector.
c. Turn the ignition switch on (IG).
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
O6-4 (IG) - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG CIRCUIT)

Fig. 74: Identifying IG Terminal Of Yaw Rate And Acceleration Sensor

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. INSPECT YAW RATE AND ACCELERATION SENSOR (GND TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
O6-1 (GND) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND CIRCUIT)

cardiagn.com
Fig. 75: Identifying GND Terminal Of Yaw Rate And Acceleration Sensor
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. RECONFIRM DTC
a. Reconnect the yaw rate and acceleration sensor connector.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 3 km/h (2 mph) or more for at least 10 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESULT CHART
Result Proceed to
DTC (C1381) is not output A
DTC (C1381) is output B

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

cardiagn.com
A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS
SYSTEM)

DTC C1401 FRONT SPEED SENSOR RH MALFUNCTION; DTC C1402 FRONT SPEED SENSOR
LH MALFUNCTION

DESCRIPTION

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

Fig. 76: Identifying Speed Sensor And Speed Sensor Rotor

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Any of the following is detected:

1. At a vehicle speed 10 km/h (6 mph) or more, output voltage from one

of the speed sensors is less than that from the other sensors for 15  Front speed
seconds or more (for 2WD) or for 30 seconds or more (for 4WD). sensor
C1401
RH/LH
C1402 2. At a vehicle speed less than 10 km/h (6 mph), output from one of the
speed sensors is 0 km/h (0 mph) for 1 second or more.  Speed sensor
rotor
3. At a vehicle speed 10 km/h (6 mph) or more, outputs from both front
speed sensors are 0 km/h (0 mph) for 15 seconds or more (for 2WD)
or for 30 seconds or more (for 4WD).

HINT:

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 DTC C1401 is for the front speed sensor RH.
 DTC C1402 is for the front speed sensor LH.

WIRING DIAGRAM

Fig. 77: Front Speed Sensor RH - Wiring Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. CHECK FRONT SPEED SENSOR INSTALLATION

a. Check the speed sensor installation.

OK:

There is no clearance between the sensor and the front steering knuckle.

The installation nut is tightened properly.

Torque:

8.0 N*m (82 kgf*cm, 71 in.*lbf)

NG: INSTALL FRONT SPEED SENSOR CORRECTLY (See INSTALLATION)

cardiagn.com
Fig. 78: Identifying Front Speed Sensor Proper Installation Position
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. CHECK FRONT SPEED SENSOR TIP

a. Remove the front speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: CLEAN OR REPLACE FRONT SPEED SENSOR

OK: Go to next step

3. CHECK FRONT SPEED SENSOR ROTOR

a. Remove the front speed sensor rotor (See REMOVAL for 2GR-FE, or See REMOVAL for 1AR-
FE).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

cardiagn.com
HINT:

If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard joint
shaft assembly.

NG: CLEAN OR REPLACE FRONT SPEED SENSOR ROTOR

OK: Go to next step

4. READ VALUE ON TECHSTREAM (FRONT SPEED SENSOR)

a. Install the front speed sensor and the front speed sensor rotor.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
FR Wheel FR wheel speed sensor reading/min.: 0 km/h Actual wheel Similar speed as
Speed (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
FL Wheel FL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 5

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OK: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See
DIAGNOSIS SYSTEM)

5. REPLACE FRONT SPEED SENSOR

a. Turn the ignition switch off.
b. Replace the front speed sensor (See REMOVAL).

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

6. RECONFIRM DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1401 and C1402) are not output A
DTCs (C1401 and/or C1402) are output B

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard
joint shaft assembly.
 If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE FRONT SPEED SENSOR ROTOR

A: END

DTC C1403 REAR SPEED SENSOR RH MALFUNCTION; DTC C1404 REAR SPEED SENSOR LH
MALFUNCTION

DESCRIPTION

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

cardiagn.com
Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

Fig. 79: Identifying Speed Sensor And Speed Sensor Rotor

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code

Any of the following is detected:

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. At a vehicle speed 10 km/h (6 mph) or more, output voltage from one

of the speed sensors is less than that from the other sensors for 15
seconds or more (for 2WD) or for 30 seconds or more (for 4WD).  Rear speed
sensor
C1403 2. At a vehicle speed less than 10 km/h (6 mph), output from one of the RH/LH
C1404 speed sensors is 0 km/h (0 mph) for 1 second or more.
 Speed sensor
3. At a vehicle speed less than 10 km/h (6 mph), outputs from both rear rotor
speed sensors are 0 km/h (0 mph) for a cumulative time of 200
seconds.

HINT:

 DTC C1403 is for the rear speed sensor RH.

 DTC C1404 is for the rear speed sensor LH.

WIRING DIAGRAM

Fig. 80: Rear Speed Sensor RH - Wiring Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
cardiagn.com
INSPECTION PROCEDURE

1. CHECK REAR SPEED SENSOR INSTALLATION

a. Check the speed sensor installation (for 2WD).

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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

b. Check the speed sensor installation (for 4WD).

OK:

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

The installation nut is tightened properly.

Torque:

8.0 N*m (82 kgf*cm, 71 in.*lbf)

cardiagn.com

Fig. 81: Identifying Rear Speed Sensor Proper Installation Position

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Result

RESULT CHART
Result Proceed to
OK (for 4WD) A
OK (for 2WD) B
NG (for 2WD) C
NG (for 4WD) D

B: Go to step 4

C: INSTALL REAR SPEED SENSOR CORRECTLY (for 2WD) (See INSTALLATION)

D: INSTALL REAR SPEED SENSOR CORRECTLY (for 4WD) (See INSTALLATION)

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A: Go to next step

2. CHECK REAR SPEED SENSOR TIP

a. Remove the rear speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

NG: CLEAN OR REPLACE REAR SPEED SENSOR

OK: Go to next step

3. CHECK REAR SPEED SENSOR ROTOR

a. Remove the rear speed sensor rotor (See REMOVAL ).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.

NG: CLEAN OR REPLACE REAR SPEED SENSOR ROTOR

OK: Go to next step

4. READ VALUE ON TECHSTREAM (REAR SPEED SENSOR)

a. Install the rear speed sensor and the rear speed sensor rotor.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

cardiagn.com
ABS/VSC/TRAC TESTER DISPLAY REFERENCE
Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
RR Wheel RR wheel speed sensor reading/min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
RL Wheel RL wheel speed sensor reading/min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

Result

RESULT CHART
Result Proceed to
NG (for 4WD) A
NG (for 2WD) B
OK C
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:

 The rear speed sensor rotor is incorporated into the rear axle hub and bearing assembly.

If the rear speed sensor rotor needs to be replaced, replace it together with the rear axle hub and
bearing assembly with rear speed sensor.

 If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE REAR SPEED SENSOR AND REAR SPEED SENSOR ROTOR

C: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

cardiagn.com
SYSTEM)

A: Go to next step

5. REPLACE REAR SPEED SENSOR

a. Turn the ignition switch off.
b. Replace the rear speed sensor (See REMOVAL).

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

6. RECONFIRM DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1403 and C1404) are not output A
DTCs (C1403 and/or C1404) are output B

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.
 If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE REAR SPEED SENSOR ROTOR

A: END

DTC C1405 OPEN OR SHORT IN FRONT SPEED SENSOR RH CIRCUIT; DTC C1406 OPEN OR
SHORT IN FRONT SPEED SENSOR LH CIRCUIT

DESCRIPTION

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

cardiagn.com
Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

Fig. 82: Identifying Speed Sensor And Speed Sensor Rotor

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:
 Front speed sensor
RH/LH
C1405 1. An open in the speed sensor signal circuit continues for
C1406 0.5 seconds or more.  Speed sensor circuit
2. With the IG1 terminal voltage 9.5 V or more, the sensor  Brake actuator assembly
power supply voltage decreases for 0.5 seconds or more. (Skid control ECU)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

 DTC C1405 is for the front speed sensor RH.

 DTC C1406 is for the front speed sensor LH.

WIRING DIAGRAM

Refer to DTCs C1401 and C1402 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

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a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition
Display Note
FR Speed FR speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal
FL Speed FL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

OK:

There are no momentary interruptions.

HINT:

Perform the above inspection before removing the sensor and connector.

NG: Go to step 4

OK: Go to next step

2. READ VALUE ON TECHSTREAM (FRONT SPEED SENSOR)

a. Turn the ignition switch off.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
FR Wheel FR wheel speed sensor reading/min.: 0 km/h Actual wheel Similar speed as
Speed (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
FL Wheel FL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The

cardiagn.com
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

NG: Go to step 4

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1405 and C1406) are not output A
DTCs (C1405 and/or C1406) are output B

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - FRONT SPEED SENSOR)
a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector and the front speed sensor connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

cardiagn.com
for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-7 (FR+) - A29-2 (FR+) Always Below 1 ohms
A24-7 (FR+) - Body ground Always 10 kohms or higher
A24-6 (FR-) - A29-1 (FR-) Always Below 1 ohms
A24-6 (FR-) - Body ground Always 10 kohms or higher

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-19 (FL+) - A12-2 (FL+) Always Below 1 ohms
A24-19 (FL+) - Body ground Always 10 kohms, or higher
A24-18 (FL-) - A12-1 (FL-) Always Below 1 ohms
A24-18 (FL-) - Body ground Always 10 kohms or higher

NG: DTC C1407 OPEN OR SHORT IN REAR SPEED SENSOR RH CIRCUIT; DTC C1408
OPEN OR SHORT IN REAR SPEED SENSOR LH CIRCUIT
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 83: Identifying Skid Control ECU And Front Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:

for RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A29-2 (FR+) - Body ground Ignition switch on (IG) 8 to 14 V

for LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A12-2 (FL+) - Body ground Ignition switch on (IG) 8 to 14 V

cardiagn.com
Fig. 84: Identifying Front Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: REPLACE FRONT SPEED SENSOR (See REMOVAL)

DTC C1407 OPEN OR SHORT IN REAR SPEED SENSOR RH CIRCUIT; DTC C1408 OPEN OR
SHORT IN REAR SPEED SENSOR LH CIRCUIT

DESCRIPTION

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

cardiagn.com
Fig. 85: Identifying Speed Sensor And Speed Sensor Rotor
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:
 Rear speed sensor
RH/LH
C1407 1. An open in the speed sensor signal circuit continues for
C1408 0.5 seconds or more.  Speed sensor circuit
2. With the IG1 terminal voltage 9.5 V or more, the sensor  Brake actuator assembly
power supply voltage decreases for 0.5 seconds or more. (Skid control ECU)

HINT:

 DTC C1407 is for the rear speed sensor RH.

 DTC C1408 is for the rear speed sensor LH.

WIRING DIAGRAM

Refer to DTCs C1403 and C1404 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition
Display Note
RR Speed RR speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal
RL Speed RL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

Result

cardiagn.com
RESULT CHART
Result Proceed to
There are no momentary interruptions A
There are momentary interruptions (for 2WD) B
There are momentary interruptions (for 4WD) C

HINT:

Perform the above inspection before removing the sensor and connector.

B: Go to step 4

C: Go to step 5

A: Go to next step

2. READ VALUE ON TECHSTREAM (REAR SPEED SENSOR)

a. Turn the ignition switch off.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
RR Wheel RR wheel speed sensor reading/min.: 0 Actual wheel Similar speed as
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
RL Wheel RL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

cardiagn.com
The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2WD) B
NG (for 4WD) C

B: Go to step 4

C: Go to step 5

A: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTCs (C1407 and C1408) are not output A

DTCs (C1407 and/or C1408) are output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL SENSOR WIRE)

a. Turn the ignition switch off.

cardiagn.com
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control sensor wire.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z9 ("A"-2) - z9 ("B"-1) Always Below 1 ohms
z9 ("A"-2) - z9 ("B"-2) Always 10 kohms or higher
z9 ("A"-2) - Body ground Always 10 kohms or higher
z9 ("A"-1) - z9 ("B"-2) Always Below 1 ohms
z9 ("A"-1) - z9 ("B"-1) Always 10 kohms or higher
z9 ("A"-1) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 86: Identifying Skid Control Sensor Wire Connector Terminals

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z10 ("A"-2) - z10 ("B"-1) Always Below 1 ohms
z10 ("A"-2) - z10 ("B"-2) Always 10 kohms or higher
z10 ("A"-2) - Body ground Always 10 kohms or higher
z10 ("A"-1) - z10 ("B"-2) Always Below 1 ohms
z10 ("A"-1) - z10 ("B"-1) Always 10 kohms or higher
z10 ("A"-1) - Body ground Always 10 kohms or higher

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

NG: REPLACE SKID CONTROL SENSOR WIRE

OK: Go to next step

5. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - REAR SPEED SENSOR)
a. Turn the ignition switch off.
b. Reconnect the skid control sensor wire (for 2WD).
c. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
d. Disconnect the skid control ECU connector and the rear speed sensor connector.
e. Measure the resistance according to the value (s) in the table below.

Standard resistance:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

for 2WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - z9-2 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - z9-1 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - N20-1 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher

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A24-16 (RR-) - N20-2 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 2WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-5 (RL+) - z10-2 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - z10-1 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 87: Identifying Skid Control ECU And Rear Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

for 4WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-5 (RL+) - O39-1 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - O39-2 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

OK: Go to next step

6. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:

for 2WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition

cardiagn.com
z9-2 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
N20-1 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 2WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
Z10-2 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
O39-1 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 88: Identifying Skid Control ECU Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for 2WD) A
OK (for 4WD) B
NG C

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE REAR SPEED SENSOR (for 4WD) (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

C: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: REPLACE REAR SPEED SENSOR (for 2WD) (See REMOVAL)

DTC C1413 FRONT SPEED SENSOR RH OUTPUT MALFUNCTION; DTC C1414 FRONT SPEED
SENSOR LH OUTPUT MALFUNCTION

DESCRIPTION

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

cardiagn.com
Fig. 89: Identifying Speed Sensor And Speed Sensor Rotor
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Any of the following is detected:
 Front speed sensor
1. An open in the sensor signal circuit of a malfunctioning area RH/LH
occurs 255 times or more.  Speed sensor circuit
C1413
2. At a vehicle speed 20 km/h (12 mph) or more, noise occurs  Speed sensor rotor
C1414
in the sensor signals of a malfunctioning wheel 75 times or
 Brake actuator
more within 5 seconds.
assembly (Skid
3. At a vehicle speed 10 km/h (6 mph) or more, noise occurs control ECU)
once per rotor rotation for 15 seconds or more.

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 DTC C1413 is for the front speed sensor RH.

 DTC C1414 is for the front speed sensor LH.

WIRING DIAGRAM

Refer to DTCs C1401 and C1402 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

cardiagn.com
ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition
Display Note
FR Speed FR speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal
FL Speed FL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

OK:

There are no momentary interruptions.

HINT:

Perform the above inspection before removing the sensor and connector.

NG: Go to step 4

OK: Go to next step

2. READ VALUE ON TECHSTREAM (FRONT SPEED SENSOR)

a. Turn the ignition switch off.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
FR Wheel FR wheel speed sensor reading/min.: 0 km/h Actual wheel Similar speed as
Speed (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
FL Wheel FL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of

cardiagn.com
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

NG: Go to step 4

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1413 and C1414) are not output A
DTCs (C1413 and/or C1414) are output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: Go to next step

4. CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)
a. Turn the ignition switch off.
b. Check the speed sensor installation.

OK:

There is no clearance between the sensor and the front steering knuckle.

The installation nut is tightened properly.

Torque:

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8.0 N*m (82 kgf*cm, 71 in.*lbf)

NG: INSTALL FRONT SPEED SENSOR CORRECTLY (See INSTALLATION)

Fig. 90: Identifying Front Speed Sensor Proper Installation Position

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. CHECK FRONT SPEED SENSOR TIP

a. Remove the front speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

NG: CLEAN OR REPLACE FRONT SPEED SENSOR

OK: Go to next step

6. CHECK FRONT SPEED SENSOR ROTOR

a. Remove the front speed sensor rotor (See REMOVAL for 2GR-FE, or See REMOVAL for 1AR-
FE).
b. Check the speed sensor rotor.

OK:

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No scratches, oil, or foreign matter on the rotors.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

HINT:

If the front speed sensor rotor needs to be replaced, replace it together with the front drive outboard joint
shaft assembly.

NG: CLEAN OR REPLACE FRONT SPEED SENSOR ROTOR

OK: Go to next step

7. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - FRONT SPEED SENSOR)
a. Install the front speed sensor and the front speed sensor rotor.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector and the front speed sensor connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-7 (FR+) - A29-2 (FR+) Always Below 1 ohms
A24-7 (FR+) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A24-6 (FR-) - A29-1 (FR-) Always Below 1 ohms

A24-6 (FR-) - Body ground Always 10 kohms or higher

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-19 (FL+) - A12-2 (FL+) Always Below 1 ohms
A24-19 (FL+) - Body ground Always 10 kohms or higher
A24-18 (FL-) - A12-1 (FL-) Always Below 1 ohms
A24-18 (FL-) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

cardiagn.com
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 91: Identifying Skid Control ECU And Front Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

8. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

for RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A29-2 (FR+) - Body ground Ignition switch on (IG) 8 to 14 V

for LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A12-2 (FL+) - Body ground Ignition switch on (IG) 8 to 14 V

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

cardiagn.com
Fig. 92: Identifying Front Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

OK: REPLACE FRONT SPEED SENSOR (See REMOVAL)

DTC C1415 REAR SPEED SENSOR RH OUTPUT MALFUNCTION; DTC C1416 REAR SPEED
SENSOR LH OUTPUT MALFUNCTION

DESCRIPTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The speed sensor detects wheel speed and sends the appropriate signals to the skid control ECU. These signals
are used for ABS control.

Speed sensor rotors have rows of alternating N and S magnetic poles, and their magnetic fields change when the
rotors turn.

Each speed sensor detects that magnetic change and sends a pulse signal to the skid control ECU.

cardiagn.com
Fig. 93: Identifying Speed Sensor And Speed Sensor Rotor
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Any of the following is detected:
 Rear speed sensor
1. An open in the sensor signal circuit of a malfunctioning area RH/LH
occurs 255 times or more.  Speed sensor circuit
C1415
2. At a vehicle speed 20 km/h (12 mph) or more, noise occurs  Speed sensor rotor
C1416
in the sensor signals of a malfunctioning wheel 75 times or
 Brake actuator
more within 5 seconds.
assembly (Skid
3. At a vehicle speed 10 km/h (6 mph) or more, noise occurs control ECU)
once per rotor rotation for 15 seconds or more.

HINT:

 DTC C1415 is for the rear speed sensor RH.

 DTC C1416 is for the rear speed sensor LH.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to DTCs C1403 and C1404 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Diagnostic
Measurement Item/Range Normal Condition

cardiagn.com
Display Note
RR Speed RR speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal
RL Speed RL speed sensor open ERROR: Momentary interruption
-
Open detection/ERROR or NORMAL NORMAL: Normal

OK:

There are no momentary interruptions.

HINT:

Perform the above inspection before removing the sensor and connector.

NG: Go to step 4

OK: Go to next step

2. READ VALUE ON TECHSTREAM (REAR SPEED SENSOR)

a. Turn the ignition switch off.
b. Connect Techstream to the DLC3.
c. Start the engine.
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Normal
Measurement Item/Range Diagnostic Note
Display Condition
RR Wheel RR wheel speed sensor reading/min.: 0 Actual wheel Similar speed as
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer
RL Wheel RL wheel speed sensor reading /min.: 0 Actual wheel Similar speed as
Speed km/h (0 mph), max.: 326 km/h (202 mph) speed indicated on speedometer

e. Check that there is no difference between the speed value output from the speed sensor displayed
on Techstream and the speed value displayed on the speedometer when driving the vehicle.

HINT:

Factors that affect the indicated vehicle speed include tire size, tire inflation, and tire wear. The
speed indicated on the speedometer has an allowable margin of error. This can be tested using a
speedometer tester (calibrated chassis dynamometer). For details about testing and the margin of
error, see the reference chart (See ON-VEHICLE INSPECTION ).

OK:

cardiagn.com
The speed value output from the speed sensor displayed on Techstream is the same as the
actual vehicle speed measured using a speedometer tester (calibrated chassis dynamometer).

NG: Go to step 4

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 40 km/h (25 mph) or more for at least 60 seconds.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1415 and C1416) are not output A
DTCs (C1415 and/or C1416) are output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

SYSTEM)

4. CHECK REAR SPEED SENSOR INSTALLATION

a. Turn the ignition switch off.
b. Check the speed sensor installation (for 2WD).

OK:

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

c. Check the speed sensor installation (for 4WD).

OK:

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

cardiagn.com
The installation nut is tightened properly.

Torque:

8.0 N*m (82 kgf*cm, 71 in.*lbf)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 94: Identifying Rear Speed Sensor Proper Installation Position
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for 4WD) A
OK (for 2WD) B
NG (for 2WD) C
NG (for 4WD) D

B: Go to step 7

C: INSTALL REAR SPEED SENSOR CORRECTLY (for 2WD) (See INSTALLATION)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

D: INSTALL REAR SPEED SENSOR CORRECTLY (for 4WD) (See INSTALLATION)

A: Go to next step

5. CHECK REAR SPEED SENSOR TIP

a. Remove the rear speed sensor (See REMOVAL).
b. Check the speed sensor tip.

OK:

No scratches, oil, or foreign matter on the sensor tip.

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

cardiagn.com
NG: CLEAN OR REPLACE REAR SPEED SENSOR

OK: Go to next step

6. CHECK REAR SPEED SENSOR ROTOR

a. Remove the rear speed sensor rotor (See REMOVAL ).
b. Check the speed sensor rotor.

OK:

No scratches, oil, or foreign matter on the rotors.

Result

RESULT CHART
Result Proceed to
NG A
OK B

NOTE: Check the speed sensor signal after cleaning or replacement (See TEST
MODE PROCEDURE).

HINT:

If the rear speed sensor rotor needs to be replaced, replace it together with the outboard joint shaft
assembly.

B: Go to step 8

A: CLEAN OR REPLACE REAR SPEED SENSOR ROTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

7. CHECK HARNESS AND CONNECTOR (SKID CONTROL SENSOR WIRE)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control sensor wire.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance: for RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z9 ("A"-2) - z9 ("B"-1) Always Below 1 ohms
z9 ("A"-2) - z9 ("B"-2) Always 10 kohms or higher
z9 ("A"-2) - Body ground Always 10 kohms or higher
z9 ("A"-1) - z9 ("B"-2) Always Below 1 ohms
z9 ("A"-1) - z9 ("B"-1) Always 10 kohms or higher

cardiagn.com
z9 ("A"-1) - Body ground Always 10 kohms or higher

Fig. 95: Identifying Skid Control Sensor Wire Connector Terminals

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

for LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
z10 ("A"-2) - z10 ("B"-1) Always Below 1 ohms
z10 ("A"-2) - z10 ("B"-2) Always 10 kohms or higher
z10 ("A"-2) - Body ground Always 10 kohms or higher
z10 ("A"-1) - z10 ("B"-2) Always Below 1 ohms
z10 ("A"-1) - z10 ("B"-1) Always 10 kohms or higher
z10 ("A"-1) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

NG: REPLACE SKID CONTROL SENSOR WIRE

OK: Go to next step

8. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - REAR SPEED SENSOR)
a. Install the rear speed sensor and the rear speed sensor rotor.
b. Reconnect the skid control sensor wire (for 2WD).
c. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
d. Disconnect the skid control ECU connector and the rear speed sensor connector.
e. Measure the resistance according to the value (s) in the table below.

cardiagn.com
Standard resistance:

for 2WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - z9-2 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - z9-1 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 4WD RH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-17 (RR+) - N20-1 (RR+) Always Below 1 ohms
A24-17 (RR+) - Body ground Always 10 kohms or higher
A24-16 (RR-) - N20-2 (RR-) Always Below 1 ohms
A24-16 (RR-) - Body ground Always 10 kohms or higher

for 2WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-5 (RL+) - z10-2 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - z10-1 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

for 4WD LH

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-5 (RL+) - O39-1 (RL+) Always Below 1 ohms
A24-5 (RL+) - Body ground Always 10 kohms or higher
A24-4 (RL-) - O39-2 (RL-) Always Below 1 ohms
A24-4 (RL-) - Body ground Always 10 kohms or higher

cardiagn.com

Fig. 96: Identifying Skid Control ECU And Rear Speed Sensor Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

OK: Go to next step

9. INSPECT SKID CONTROL ECU (SENSOR INPUT)

a. Reconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage:

for 2WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition

cardiagn.com
z9-2 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD RH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
N20-1 (RR+) - Body ground Ignition switch on (IG) 8 to 14 V

for 2WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
z-10-2 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V

for 4WD LH

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
O39-1 (RL+) - Body ground Ignition switch on (IG) 8 to 14 V
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 97: Identifying Skid Control ECU Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
OK (for 2WD) A
OK (for 4WD) B
NG C

NOTE: Check the speed sensor signal after replacement (See TEST MODE
PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE REAR SPEED SENSOR (for 4WD) (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

C: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: REPLACE REAR SPEED SENSOR (for 2WD) (See REMOVAL)

DTC C1417 HIGH POWER SUPPLY VOLTAGE MALFUNCTION

DESCRIPTION

If a malfunction is detected in the power supply circuit, the skid control ECU (housed in the actuator assembly)
stores this DTC and the fail safe function prohibits ABS operation. This DTC is stored when the IG1 terminal
voltage deviates from the DTC detection condition due to a malfunction in the power supply or charging circuit
such as the battery or alternator circuit, etc. The DTC is cancelled when the IG1 terminal voltage returns to
normal.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area

cardiagn.com
Code
 ECU-IG NO. 2 fuse
 Battery
The IG1 terminal voltage is 17.4 V or more for  Charging system
C1417
1 second or more.  Power source circuit
 Internal power supply circuit of the
skid control ECU

WIRING DIAGRAM

Refer to DTC C1241 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. INSPECT ECU-IG NO. 2 FUSE

a. Remove the ECU-IG NO. 2 fuse from the main body ECU (instrument panel junction block).
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
ECU-IG NO. 2 (7.5 A) fuse Always Below 1 ohms

NG: REPLACE ECU-IG NO. 2 FUSE

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 98: Identifying ECU-IG No. 2 Fuse

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. CHECK BATTERY
a. Install the ECU-IG NO. 2 fuse.
b. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

3. INSPECT SKID CONTROL ECU (IG1 TERMINAL)

a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

b. Disconnect the skid control ECU connector.

c. Turn the ignition switch on (IG).
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-34 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

cardiagn.com
NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG1 CIRCUIT)

Fig. 99: Identifying IG1 Terminal Of Skid Control ECU Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1419 ACCELERATION SENSOR INTERNAL CIRCUIT; DTC C1435 YAW RATE SENSOR
INTERNAL CIRCUIT

DESCRIPTION

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

GL2).

If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN communication
system, DTCs U0123 (malfunction in CAN communication with the yaw rate sensor) and U0124 (malfunction
in CAN communication with the acceleration sensor) are set.

These DTCs are also output when calibration has not been completed.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
A data malfunction signal is received from the acceleration Yaw rate and acceleration
C1419
sensor. sensor
A data malfunction signal is received from the yaw rate Yaw rate and acceleration
C1435
sensor. sensor

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WIRING DIAGRAM

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1419 and/or C1435, inspect and repair the trouble
areas indicated by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC
U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

1. REPLACE YAW RATE AND ACCELERATION SENSOR

a. Replace the yaw rate and acceleration sensor (See REMOVAL).

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NEXT: END
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC C1420 ACCELERATION SENSOR MALFUNCTION

DESCRIPTION

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
GL2).

If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN communication
system, DTCs U0123 (malfunction in CAN communication with the yaw rate sensor) and U0124 (malfunction
in CAN communication with the acceleration sensor) are set.

These DTCs are also output when calibration has not been completed.

cardiagn.com
DTC DETECTION CONDITION CHART
DTC
DTC Detection Condition Trouble Area
Code
After the difference between GL1 and GL2 becomes 0.6 G or more  Sensor installation
C1420 with the vehicle stationary, the difference remains 0.4 G or more for  Yaw rate and
60 seconds or more. acceleration sensor

WIRING DIAGRAM

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1420, inspect and repair the trouble areas indicated
by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE COMMUNICATION BUS
OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC U0123 LOST
COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

1. CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION

a. Check that the yaw rate and acceleration sensor has been installed properly (See
INSTALLATION).

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The sensor should be tightened to the specified torque.

The sensor should not be installed in a tilted position.

NOTE: Check the yaw rate and acceleration sensor signal after replacement
(See TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY (See

INSTALLATION)

OK: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

cardiagn.com
DTC C1421 OPEN OR SHORT IN MASTER CYLINDER PRESSURE SENSOR; DTC C1423
MASTER CYLINDER PRESSURE SENSOR ZERO POINT LOW MALFUNCTION; DTC C1424
MASTER CYLINDER PRESSURE SENSOR OUTPUT MALFUNCTION

DESCRIPTION

The master cylinder pressure sensor is connected to the skid control ECU in the brake actuator assembly.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 100: Master Cylinder Pressure Sensor Communication Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. With the IG1 terminal voltage between 9.5 and 17.4 V, the
VCM terminal voltage is not between 4.4 and 5.6 V for 1.2 Brake actuator assembly
C1421 seconds or more. (Master cylinder pressure
sensor)
2. When the VCM terminal voltage is between 4.8 and 5.2 V, the
PMC terminal voltage is not between 0.19 and 4.57 V for 1.2
seconds or more.
Brake actuator assembly
C1423 The PMC terminal voltage is less than 0.27 V for 5 seconds or more. (Master cylinder pressure
sensor)
Any of the following is detected:

1. Noise occurs in the PMC terminal 7 times or more within 5

seconds.
2. When the vehicle speed drops from 40 km/h (25 mph) to 10
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

km/h (6 mph), the master cylinder pressure does not change by

at least 0.048 MPa.
3. At a vehicle speed 7 km/h (4.3 mph) or more, the PMC
Brake actuator assembly
terminal voltage is between 0.86 and 1.0 V and does not
C1424 (Master cylinder pressure
change by at least 0.048 MPa for 60 seconds or more.
sensor)
4. At a vehicle speed 7 km/h (4.3 mph) or more, the PMC
terminal voltage is 1.0 V or more and does not change by at
least 0.048 MPa for 30 seconds or more.

WIRING DIAGRAM

Refer to DTC C1425 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

cardiagn.com
NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. REPLACE BRAKE ACTUATOR ASSEMBLY

a. Replace the brake actuator assembly (master cylinder pressure sensor) (See REMOVAL).

NEXT: END

DTC C1422 MASTER CYLINDER PRESSURE SENSOR ZERO POINT HIGH MALFUNCTION

DESCRIPTION

The master cylinder pressure sensor is connected to the skid control ECU in the brake actuator assembly.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 101: Brake Actuator Assembly Communication Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Stop light switch
 Stop light switch circuit
When the stop light switch is OFF, the PMC terminal  Master cylinder pressure sensor
C1422
voltage is more than 0.86 V for 5 seconds or more. circuit
 Brake actuator assembly (Master
cylinder pressure sensor)

WIRING DIAGRAM

Refer to DTC C1425 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

When C1425 and/or C1426 is output together with C1422, inspect and repair the trouble areas indicated by
C1425 and/or C1426 first (See DTC C1425 OPEN IN STOP LIGHT SWITCH CIRCUIT, or DTC C1426
STOP LIGHT SWITCH OFF STUCK MALFUNCTION).

1. CHECK STOP LIGHT OPERATION

a. Check that the stop lights come on when the brake pedal is depressed, and go off when the brake
pedal is released.

OK

STOP LIGHT OPERATION CONDITION REFERENCE

Condition Illumination Condition
Brake pedal depressed ON

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Brake pedal released OFF

NG: INSPECT STOP LIGHT CIRCUIT (See PROBLEM SYMPTOMS TABLE )

OK: Go to next step

2. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released

d. Check that the stop light condition observed on Techstream changes according to brake pedal
operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

NG: Go to step 5

OK: Go to next step

3. CHECK BRAKE PEDAL AND STOP LIGHT SWITCH INSTALLATION

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Turn the ignition switch off.

b. Check the brake pedal height and stop light switch installation (See ADJUSTMENT ).

OK:

The brake pedal height and stop light switch installation are normal.

NG: ADJUST BRAKE PEDAL OR STOP LIGHT SWITCH (See ADJUSTMENT )

OK: Go to next step

4. RECONFIRM DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Drive the vehicle at a speed of 40 km/h (25 mph) or more and perform braking test (decelerate the

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vehicle by depressing the brake pedal).
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1422) is not output A
DTC (C1422) is output B

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

5. INSPECT SKID CONTROL ECU (STP TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-2 (STP) - Body ground Stop light switch ON (Brake pedal depressed) 8 to 14 V
A24-2 (STP) - Body ground Stop light switch OFF (Brake pedal released) Below 1.5 V
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (STP CIRCUIT)

cardiagn.com
Fig. 102: Identifying STP Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1425 OPEN IN STOP LIGHT SWITCH CIRCUIT

DESCRIPTION

The skid control ECU (housed in the actuator assembly) inputs stop light switch signals and the condition of
brake operation.

The skid control ECU has an open detection circuit, which outputs this DTC when detecting an open in the stop
light input line or the ground line of the stop light circuit with the stop light switch off (brake pedal not
depressed).

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 STOP fuse
 Stop light switch
 Stop light switch circuit
When IG1 terminal voltage is between 9.5 and 17.4 V, an open  Stop light control relay
C1425
stop light switch circuit continues for 3 seconds or more.
 Stop light control relay
circuit
 Brake actuator assembly
(Skid control ECU)

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 103: Stop Light Switch - Wiring Diagram (1 Of 2)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 104: Stop Light Switch - Wiring Diagram (2 Of 2)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. CHECK STOP LIGHT OPERATION

a. Check that the stop lights come on when the brake pedal is depressed, and go off when the brake
pedal is released.

OK

STOP LIGHT OPERATION CONDITION REFERENCE

Condition Illumination Condition
Brake pedal depressed ON
Brake pedal released OFF

NG: Go to step 4

OK: Go to next step

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2. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH)
a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released

d. Check that the stop light switch display observed on Techstream changes according to brake pedal
operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

NG: Go to step 11

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Depress the brake pedal several times to test the stop light circuit.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Result

RESULT CHART
Result Proceed to
DTC (C1425) is not output A
DTC (C1425) is output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

cardiagn.com
SYSTEM)

4. INSPECT STOP FUSE

a. Remove the STOP fuse from the main body ECU (instrument panel junction block).
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
STOP (10 A) fuse Always Below 1 ohms

NG: REPLACE STOP FUSE

Fig. 105: Identifying STOP Fuse

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK: Go to next step

5. INSPECT STOP LIGHT SWITCH (POWER SOURCE TERMINAL)

a. Install the STOP fuse.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the stop light switch connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Condition Specified Condition
A19-2 - Body ground Always 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

cardiagn.com
Fig. 106: Identifying Stop Light Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

6. INSPECT STOP LIGHT SWITCH

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
1-2 Switch pin free Below 1 ohms
1-2 Switch pin pushed in 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPLACE STOP LIGHT SWITCH (See STOP LIGHT SWITCH )

cardiagn.com
Fig. 107: Inspecting Stop Light Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. INSPECT STOP LIGHT CONTROL RELAY

a. Remove the stop light control relay.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
3-4 Voltage is not applied between terminals 1 and 2 Below 1 ohms

NG: REPLACE STOP LIGHT CONTROL RELAY

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 108: Identifying Stop Light Control Connector Terminals And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

cardiagn.com
OK: Go to next step

8. CHECK HARNESS AND CONNECTOR (STOP LIGHT SWITCH - ENGINE ROOM RELAY
BLOCK)
a. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A19-1 - Stop light control relay terminal 4 Always Below 1 ohms
A19-1 - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 109: Identifying Stop Light Switch Connector Terminals And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

9. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - ENGINE ROOM RELAY
BLOCK)
a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-2 (STP) - Stop light control relay terminal 3 Always Below 1 ohms
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

Fig. 110: Identifying Skid Control ECU Connector And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC. cardiagn.com
OK: Go to next step

10. RECONFIRM DTC

a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Depress the brake pedal several times to test the stop light circuit.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

HINT:

Reinstall the relay, connectors, etc. and restore the vehicle to its prior condition before rechecking for
DTCs.

Result

RESULT CHART
Result Proceed to
DTC (C1425) is not output A
DTC (C1425) is output B

HINT:

cardiagn.com
If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: INSPECT LIGHTING SYSTEM (STOP LIGHT CIRCUIT) (See PROBLEM SYMPTOMS

TABLE )

11. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - ENGINE ROOM RELAY
BLOCK)
a. Turn the ignition switch off.
b. Remove the stop light control relay.
c. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
d. Disconnect the skid control ECU connector.
e. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-2 (STP) - Stop light control relay terminal 3 Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 111: Identifying Skid Control ECU Connector Terminal And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1426 STOP LIGHT SWITCH OFF STUCK MALFUNCTION

DESCRIPTION

The skid control ECU (housed in the actuator assembly) inputs stop light switch signals and the condition of
brake operation.

The skid control ECU has an open detection circuit, which outputs this DTC when detecting an open in the stop
light input line or the ground line of the stop light circuit with the stop light switch off (brake pedal not
depressed).

DTC DETECTION CONDITION CHART

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC
DTC Detection Condition Trouble Area
Code
 STOP fuse
 Stop light switch
 Stop light switch
circuit
When the brake pedal load sensing switch is ON, the master cylinder
pressure is 2 MPa or more and the deceleration calculated from the  Stop light control
C1426 relay
vehicle speed is 0.2 G or more, the stop light switch is OFF for 2
seconds or more.  Stop light control
relay circuit
 Brake actuator
assembly (Skid
control ECU)

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WIRING DIAGRAM

Refer to DTC C1425 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK STOP LIGHT OPERATION

a. Check that the stop lights come on when the brake pedal is depressed, and go off when the brake
pedal is released.

OK

STOP LIGHT OPERATION CONDITION REFERENCE

Condition Illumination Condition
Brake pedal depressed ON
Brake pedal released OFF

NG: Go to step 4

OK: Go to next step

2. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released
ON: Brake pedal depressed
Brake Pedal Load Brake pedal load sensing beyond the specified point
-
Sensing SW switch/ON or OFF OFF: Brake pedal not depressed
beyond the specified point

d. Check that the stop light switch display and brake pedal load sensing switch display observed on
Techstream change according to brake pedal operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

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e. Slowly depress the brake pedal, and check when the stop light switch and brake pedal load sensing
switch turn ON.

OK:

First the stop light switch should turn ON, and then the brake pedal load sensing switch should
turn ON.

Result

RESULT CHART
Result Proceed to
OK A
NG (Turning on of the stop light switch is not confirmed) B
NG (The brake pedal load sensing switch turns on first) C

B: Go to step 11

C: Go to step 12

A: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Depress the brake pedal several times to test the stop light circuit.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Result

RESULT CHART
Result Proceed to
DTC (C1426) is not output A
DTC (C1426) is output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

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SYSTEM)

4. INSPECT STOP FUSE

a. Remove the STOP fuse from the main body ECU (instrument panel junction block).
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
STOP (10 A) fuse Always Below 1 ohms

NG: REPLACE STOP FUSE

Fig. 112: Identifying STOP Fuse

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK: Go to next step

5. INSPECT STOP LIGHT SWITCH (POWER SOURCE TERMINAL)

a. Install the STOP fuse.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the stop light switch connector.
d. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Condition Specified Condition
A19-2 - Body ground Always 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

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Fig. 113: Identifying Stop Light Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

6. INSPECT STOP LIGHT SWITCH

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
1-2 Switch pin free Below 1 ohms
1-2 Switch pin pushed in 10 kohms or higher
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPLACE STOP LIGHT SWITCH (See STOP LIGHT SWITCH )

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Fig. 114: Inspecting Stop Light Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. INSPECT STOP LIGHT CONTROL RELAY

a. Remove the stop light control relay.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
3-4 Voltage is not applied between terminals 1 and 2 Below 1 ohms

NG: REPLACE STOP LIGHT CONTROL RELAY

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 115: Stop Light Control Relay Circuit Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

8. CHECK HARNESS AND CONNECTOR (STOP LIGHT SWITCH - ENGINE ROOM RELAY
BLOCK)
a. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A19-1 - Stop light control relay terminal 4 Always Below 1 ohms
A19-1 - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 116: Identifying Stop Light Switch Connector Terminals And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

9. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - ENGINE ROOM RELAY
BLOCK)
a. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-2 (STP) - Stop light control relay terminal 3 Always Below 1 ohms
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

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Fig. 117: Identifying Skid Control ECU Connector Terminal And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

10. RECONFIRM DTC

a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start the engine.
c. Depress the brake pedal several times to test the stop light circuit.
d. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

HINT:

Reinstall the relay, connectors, etc. and restore the vehicle to its prior condition before rechecking for
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTCs.

Result

RESULT CHART
Result Proceed to
DTC (C1426) is not output A
DTC (C1426) is output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

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A: INSPECT LIGHTING SYSTEM (STOP LIGHT CIRCUIT) (See PROBLEM SYMPTOMS
TABLE )

11. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - ENGINE ROOM RELAY
BLOCK)
a. Turn the ignition switch off.
b. Remove the stop light control relay.
c. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
d. Disconnect the skid control ECU connector.
e. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-2 (STP) - Stop light control relay terminal 3 Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 118: Identifying Skid Control ECU Connector Terminal And Stop Light Control Relay
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

12. CHECK BRAKE PEDAL AND STOP LIGHT SWITCH INSTALLATION

a. Turn the ignition switch off.
b. Check the brake pedal height and stop light switch installation (See ADJUSTMENT ).

OK:

The brake pedal height and stop light switch installation are normal.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: ADJUST BRAKE PEDAL OR STOP LIGHT SWITCH (See ADJUSTMENT )

OK: REPLACE BRAKE PEDAL SUB-ASSEMBLY (BRAKE PEDAL LOAD SENSING

SWITCH) (See DISASSEMBLY )

DTC C1427 MOTOR MALFUNCTION

DESCRIPTION

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Brake actuator assembly (Ground
Actuator pump motor does not operate
C1427 circuit)

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properly.
 Brake actuator assembly (Motor circuit)

WIRING DIAGRAM

Refer to DTCs C0273, C0274 and C1361 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. PERFORM ACTIVE TEST USING TECHSTREAM (ABS MOTOR RELAY)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Motor Relay ABS motor relay Relay ON/OFF Operating sound of motor can be heard

d. Check for operating sound of the ABS motor relay when operating it with Techstream.

Result

RESULT CHART
Result Proceed to
Operating sound is not heard A
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Operating sound is heard B

B: Go to step 3

A: Go to next step

2. INSPECT SKID CONTROL ECU (GND2 TERMINAL)

a. Turn the ignition switch off.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the skid control ECU connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION

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Tester Connection Condition Specified Condition
A24-13 (GND2) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND2 CIRCUIT)

Fig. 119: Identifying GND2 Terminal Of Skid Control ECU Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. RECONFIRM DTC

HINT:

This code is detected when a problem is identified in the brake actuator assembly.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The ABS motor relay is in the brake actuator assembly. Therefore, ABS motor relay unit inspection
cannot be performed. Be sure to check if the DTC is output before replacing the brake actuator assembly.

a. Turn the ignition switch off.

b. Reconnect the skid control ECU connector.
c. Clear the DTCs (See DTC CHECK/CLEAR).
d. Start the engine.
e. Drive the vehicle at a speed of 20 km/h (12 mph) or more for 30 seconds or more.
f. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to

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DTC (C1427) is not output A
DTC (C1427) is output B

HINT:

 If a speed signal of 6 km/h (4 mph) or more is input to the skid control ECU with the ignition
switch on (IG) and the stop light switch off, the ECU performs self diagnosis of the motor and
solenoid circuits.
 If the normal system code is output (no trouble codes are output), slightly jiggle the connectors,
wire harness, and fuses of the brake actuator assembly. Make sure that no DTCs are output.
 If any DTCs are output while jiggling a connector or wire harness of the brake actuator assembly
(skid control ECU), inspect and repair the connector or wire harness.
 It is suspected that the DTCs were output due to a bad connection of the connector terminal.

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

DTC C1428 MOTOR CIRCUIT MALFUNCTION

DESCRIPTION

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
With the ABS motor relay OFF and the ABS motor fail safe relay ON, Brake actuator assembly
C1428
an open in the motor circuit continues for 2 seconds or more. (Motor circuit)

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to DTCs C0273, C0274 and C1361 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. REPLACE BRAKE ACTUATOR ASSEMBLY

a. Replace the brake actuator assembly (See REMOVAL).

NEXT: END

DTC C1429 OPEN OR SHORT IN BRAKE PEDAL LOAD SENSING SWITCH

DESCRIPTION

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The brake pedal load sensing switch is turned on when the brake pedal is depressed with force exceeding a
predetermined level.

The skid control ECU detects if the brake pedal is depressed or not via this circuit.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Brake pedal load sensing
switch
An open or short in the brake pedal load sensing switch  Brake pedal load sensing
C1429
continues for 0.3 seconds or more. switch circuit
 Brake actuator assembly
(Skid control ECU)

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 120: Brake Pedal Load Sensing Switch - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

HINT:

When C1425 and/or C1426 is output together with C1429, inspect and repair the trouble areas indicated by
C1425 and/or C1426 first (See DTC C1425 OPEN IN STOP LIGHT SWITCH CIRCUIT, or DTC C1426
STOP LIGHT SWITCH OFF STUCK MALFUNCTION).

1. READ VALUE ON TECHSTREAM (BRAKE PEDAL LOAD SENSING SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ON: Brake pedal depressed
Brake Pedal Load Brake pedal load sensing beyond the specified point
-
Sensing SW switch/ON or OFF OFF: Brake pedal not depressed
beyond the specified point

d. Check that the brake pedal load sensing switch display observed on Techstream changes according
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

to brake pedal operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

NG: Go to step 3

OK: Go to next step

2. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Perform the road and braking test.

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e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1429) is not output A
DTC (C1429) is output B

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

3. INSPECT BRAKE PEDAL LOAD SENSING SWITCH

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 121: Inspecting Brake Pedal Load Sensing Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE:  Do not remove the brake pedal load sensing switch from the brake
pedal sub-assembly.
 When there is a malfunction in the brake pedal load sensing switch,
replace the brake pedal sub-assembly.

a. Turn the ignition switch off.

b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the brake pedal load sensing switch connector.
d. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Specified
Tester Connection Switch Condition
Condition
2 (FSW+) -1 Brake pedal load sensing switch OFF (Brake pedal
950 to 1050 ohms
(GND) depressed)
2 (FSW+) -1 Brake pedal load sensing switch ON (Brake pedal
203 to 223 ohms
(GND) released)

NG: REPLACE BRAKE PEDAL SUB-ASSEMBLY (BRAKE PEDAL LOAD SENSING

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

SWITCH) (See DISASSEMBLY )

OK: Go to next step

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - BRAKE PEDAL LOAD
SENSING SWITCH)
a. Make sure that there is no looseness at the locking part and the connecting part of the connector.
b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-27 (FSW+) - A20-2 (FSW+) Always Below 1 ohms

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A24-27 (FSW+) - Body ground Always 10 kohms or higher
A20-1 (GND) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 122: Identifying Skid Control ECU And Brake Pedal Load Sensing Switch Connector
Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1430 BRAKE PEDAL LOAD SENSING SWITCH OFF STUCK MALFUNCTION; DTC C1431
BRAKE PEDAL LOAD SENSING SWITCH ON STUCK MALFUNCTION

DESCRIPTION

The brake pedal load sensing switch is turned on when the brake pedal is depressed with force exceeding a
predetermined level.

The skid control ECU detects if the brake pedal is depressed or not via this circuit.

DTC DETECTION CONDITION CHART

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. With the stop light switch ON, the brake pedal load sensing  Brake pedal load
switch OFF, and the master cylinder pressure 6 MPa or more, the sensing switch
C1430 deceleration is 0.4 G or more for 1 second or more.  Brake pedal load
2. With the stop light switch ON, the brake pedal load sensing sensing switch
switch OFF, and the master cylinder pressure 6 MPa or more, the circuit
vehicle speed is 0 km/h (0 mph) for 5 seconds or more.
Either of the following is detected:

1. Immediately after the ignition switch is turned on (IG), the brake  Brake pedal load
pedal load sensing switch is ON and the stop light switch is OFF sensing switch
C1431 for 10 seconds or more.  Brake pedal load
sensing switch

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2. The condition that the brake pedal load sensing switch remains
ON while the vehicle speed increases from 0 km/h (0 mph) to 30 circuit
km/h (18 mph) occurs 5 times in succession.

WIRING DIAGRAM

Refer to DTC C1429 (See DTC C1429 OPEN OR SHORT IN BRAKE PEDAL LOAD SENSING
SWITCH).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

HINT:

When C1425 and/or C1426 is output together with C1430 and/or C1431, inspect and repair the trouble areas
indicated by C1425 and/or C1426 first (See DTC C1425 OPEN IN STOP LIGHT SWITCH CIRCUIT, or
DTC C1426 STOP LIGHT SWITCH OFF STUCK MALFUNCTION).

1. READ VALUE ON TECHSTREAM (STOP LIGHT SWITCH AND BRAKE PEDAL LOAD
SENSING SWITCH)
a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Note
ON: Brake pedal depressed
Stop Light SW Stop light switch/ON or OFF -
OFF: Brake pedal released
ON: Brake pedal depressed
Brake Pedal Load Brake pedal load sensing beyond the specified point
-
Sensing SW switch/ON or OFF OFF: Brake pedal not depressed
beyond the specified point

d. Check that the stop light switch display and brake pedal load sensing switch display observed on
Techstream change according to brake pedal operation.

OK:

The Techstream displays ON or OFF according to brake pedal operation.

e. Slowly depress the brake pedal, and check when the stop light switch and brake pedal load sensing

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switch turn ON.

OK:

First the stop light switch should turn ON, and then the brake pedal load sensing switch should
turn ON.

Result

RESULT CHART
Result Proceed to
OK A
NG (Turning on of the brake pedal load sensing switch is not confirmed) B
NG (The brake pedal load sensing switch turns on first) C

B: Go to step 3

C: Go to step 5

A: Go to next step

2. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Perform the road and braking test.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESULT CHART
Result Proceed to
DTCs (C1430 and C1431) are not output A
DTCs (C1430 and/or C1431) are output B

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

3. INSPECT BRAKE PEDAL LOAD SENSING SWITCH

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Fig. 123: Inspecting Brake Pedal Load Sensing Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE:  Do not remove the brake pedal load sensing switch from the brake
pedal sub-assembly.
 When there is a malfunction in the brake pedal load sensing switch,
replace the brake pedal sub-assembly.

a. Turn the ignition switch off.

b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the brake pedal load sensing switch connector.
d. Measure the resistance according to the value (s) in the table below.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
2 (FSW+) -1 (GND) Brake pedal load sensing switch OFF (Brake pedal depressed) 950 to 1050 ohms
2 (FSW+) -1 (GND) Brake pedal load sensing switch ON (Brake pedal released) 203 to 223 ohms

NG: REPLACE BRAKE PEDAL SUB-ASSEMBLY (BRAKE PEDAL LOAD SENSING

SWITCH) (See DISASSEMBLY )

OK: Go to next step

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - BRAKE PEDAL LOAD
SENSING SWITCH)
a. Make sure that there is no looseness at the locking part and the connecting part of the connector.

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b. Disconnect the skid control ECU connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-27 (FSW+) - A20-2 (FSW+) Always Below 1 ohms
A24-27 (FSW+) - Body ground Always 10 kohms or higher
A20-1 (GND) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 124: Identifying Skid Control ECU And Brake Pedal Load Sensing Switch Connector
Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

5. CHECK BRAKE PEDAL AND STOP LIGHT SWITCH INSTALLATION

a. Turn the ignition switch off.
b. Check the brake pedal height and stop light switch installation (See ADJUSTMENT ).

OK:

The brake pedal height and stop light switch installation are normal.

NG: ADJUST BRAKE PEDAL OR STOP LIGHT SWITCH (See ADJUSTMENT )

OK: REPLACE BRAKE PEDAL SUB-ASSEMBLY (BRAKE PEDAL LOAD SENSING

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

SWITCH) (See DISASSEMBLY )

DTC C1432 STEERING ANGLE SENSOR POWER SOURCE VOLTAGE MALFUNCTION

DESCRIPTION

Steering angle sensor signals are sent to the skid control ECU via the CAN communication system. When there
is a malfunction in the CAN communication system, it will be detected by the steering angle sensor zero point
malfunction diagnostic function.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Steering angle sensor
Steering angle sensor power supply malfunction signal is
C1432 power supply
received from steering angle sensor.

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 Steering angle sensor

WIRING DIAGRAM

Fig. 125: Steering Angle Sensor - Wiring Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

HINT:

 When U0073, U0123, U0124 and/or U0126 is output together with C1432, inspect and repair the trouble
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

areas indicated by U0073, U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM;
DTC U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124
LOST COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC
U0126 LOST COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).
 When the speed sensor or the yaw rate and acceleration sensor has trouble, DTCs for the steering angle
sensor may be output even when the steering angle sensor is normal. When DTCs for the speed sensor or
yaw rate and acceleration sensor are output together with DTCs for the steering angle sensor, inspect and
repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair the steering
angle sensor.

1. INSPECT STEERING ANGLE SENSOR (POWER SOURCE TERMINAL)

a. Remove the steering wheel and the column cover lower.
b. Make sure that there is no looseness at the locking part and the connecting part of the connectors.
c. Disconnect the steering angle sensor connector.

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

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
D14-4 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V
D14-5 (BAT) -Body ground Always 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

Fig. 126: Identifying Power Source Terminal Of Steering Angle Sensor Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

2. INSPECT STEERING ANGLE SENSOR (GROUND TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D14-1 (ESS) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

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NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GROUND CIRCUIT)

Fig. 127: Identifying Ground Terminal Of Steering Angle Sensor Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE STEERING ANGLE SENSOR (See REMOVAL)

DTC C1433 STEERING ANGLE SENSOR INTERNAL CIRCUIT

DESCRIPTION

Steering angle sensor signals are sent to the skid control ECU via the CAN communication system. When there
is a malfunction in the CAN communication system, it will be detected by the steering angle sensor zero point
malfunction diagnostic function.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. With the IG1 terminal voltage 9.5 to 17.4 V, the skid control ECU Steering angle
C1433
receives an error signal from the steering angle sensor for 0.012 seconds. sensor
2. An open in the sensor power supply circuit for 1 second or more.

WIRING DIAGRAM

Refer to DTC C1432 (See DTC C1432 STEERING ANGLE SENSOR POWER SOURCE VOLTAGE
MALFUNCTION).

INSPECTION PROCEDURE

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HINT:

 When U0073, U0123, U0124 and/or U0126 is output together with C1433, inspect and repair the trouble
areas indicated by U0073, U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM;
DTC U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124
LOST COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC
U0126 LOST COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).
 When any of the speed sensors or the yaw rate and acceleration sensor has trouble, DTCs for the steering
angle sensor may be output even when the steering angle sensor is normal. When DTCs for the speed
sensors or yaw rate and acceleration sensor are output together with DTCs for the steering angle sensor,
inspect and repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair
the steering angle sensor.

1. REPLACE STEERING ANGLE SENSOR

a. Replace the steering angle sensor (See REMOVAL).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NEXT: END

DTC C1434 STEERING ANGLE SENSOR OUTPUT MALFUNCTION

DESCRIPTION

Steering angle sensor signals are sent to the skid control ECU via the CAN communication system. When there
is a malfunction in the CAN communication system, it will be detected by the steering angle sensor zero point
malfunction diagnostic function.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Steering angle sensor
Error in communication between the skid control ECU and the power supply
C1434 steering angle sensor, or abnormal steering angle sensor zero  Steering angle sensor
point.  Brake actuator assembly
(Skid control ECU)

WIRING DIAGRAM

Refer to DTC C1432 (See DTC C1432 STEERING ANGLE SENSOR POWER SOURCE VOLTAGE
MALFUNCTION).

INSPECTION PROCEDURE

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HINT:

 When U0073, U0123, U0124 and/or U0126 is output together with C1434, inspect and repair the trouble
areas indicated by U0073, U0123, U01245 and/or U0126 first (See DTC U0073 CONTROL MODULE
COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM;
DTC U0123 LOST COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124
LOST COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC
U0126 LOST COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).
 When any of the speed sensors or the yaw rate and acceleration sensor has trouble, DTCs for the steering
angle sensor may be output even when the steering angle sensor is normal. When DTCs for the speed
sensors or yaw rate and acceleration sensor are output together with DTCs for the steering angle sensor,
inspect and repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair
the steering angle sensor.

1. CHECK DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Turn the ignition switch off.
c. Turn the ignition switch on (IG) again and check that no CAN communication system DTC is
output (See DIAGNOSIS SYSTEM ).
d. Start the engine.
e. Drive the vehicle and turn the steering wheel to the right and left at a speed of 35 km/h (22 mph)
and check that no speed sensor or yaw rate and acceleration sensor DTCs are output (See DTC
CHECK/CLEAR).

Result

RESULT CHART
Proceed
Result
to
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

No CAN communication system, speed sensor, or yaw rate and acceleration sensor DTCs are
A
output
CAN communication system DTC is output B
Speed sensor or yaw rate and acceleration sensor DTC is output C

HINT:

 If there is a malfunction in any of the speed sensors or the yaw rate and acceleration sensor, an
abnormal value may be output although the steering angle sensor is normal.
 If speed sensor and yaw rate and acceleration sensor DTCs are output simultaneously, repair these
two sensors first and inspect the steering angle sensor.

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

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C: REPAIR CIRCUIT INDICATED BY OUTPUT DTC (See DIAGNOSTIC TROUBLE CODE
CHART)

A: Go to next step

2. INSPECT STEERING ANGLE SENSOR (POWER SOURCE TERMINAL)

a. Turn the ignition switch off.
b. Remove the steering wheel and the column cover lower.
c. Make sure that there is no looseness at the locking part and the connecting part of the connector.
d. Disconnect the steering angle sensor connector.
e. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
D14-4 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V
D14-5 (BAT) - Body ground Always 11 to 14 V
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 128: Identifying Power Source Terminal Of Steering Angle Sensor

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

OK: Go to next step

3. INSPECT STEERING ANGLE SENSOR (GROUND TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D14-1 (ESS) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GROUND CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 129: Identifying Ground Terminal Of Steering Angle Sensor

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE STEERING ANGLE SENSOR (See REMOVAL)

DTC C1436 YAW RATE SENSOR MALFUNCTION

DESCRIPTION

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle's condition using 2 circuits (GL1,
GL2).

If there is trouble in the bus lines between the yaw rate and acceleration sensor and the CAN communication
system, DTCs U0123 (malfunction in CAN communication with the yaw rate sensor) and U0124 (malfunction
in CAN communication with the acceleration sensor) are set.

These DTCs are also output when calibration has not been completed.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Either of the following is detected:

1. With the vehicle stationary, the yaw rate and acceleration Yaw rate and
C1436
sensor output value is not 0 deg/s. acceleration sensor
2. Abnormal comparison value.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to DTCs C1232, C1243 and C1245 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

HINT:

When U0123, U0124 and/or U0126 is output together with C1436, inspect and repair the trouble areas indicated
by U0123, U0124 and/or U0126 first (See DTC U0073 CONTROL MODULE COMMUNICATION BUS
OFF; DTC U0100 LOST COMMUNICATION WITH ECM/PCM; DTC U0123 LOST
COMMUNICATION WITH YAW RATE SENSOR MODULE; DTC U0124 LOST
COMMUNICATION WITH LATERAL ACCELERATION SENSOR MODULE; DTC U0126 LOST
COMMUNICATION WITH STEERING ANGLE SENSOR MODULE).

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1. READ VALUE ON TECHSTREAM (YAW RATE AND ACCELERATION SENSOR)
a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
Vehicle stationary: 0
deg/s
Yaw Rate Yaw rate sensor/min.: -128 deg/s, max.: Right turn: -128 to 0
-
Sensor 127 deg/s deg/s
Left turn: 0 to 127
deg/s
Vehicle stationary: 0
deg/s
Yaw Rate Yaw rate sensor 2/min.: -128 deg/s, max.: Right turn: -128 to 0
-
Sensor 2 127 deg/s deg/s
Left turn: 0 to 127
deg/s

d. Check that the yaw rate and acceleration sensor output value displayed on Techstream.

Result

RESULT CHART
Proceed
Result
to
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG (The yaw rate and acceleration sensor output value is 0 deg/s when the vehicle is
A
stationary, but the value fluctuates when turning)
NG (The yaw rate and acceleration sensor output value is not 0 deg/s when the vehicle is
B
stationary)
OK C

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

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C: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS
SYSTEM)

A: Go to next step

2. CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION

a. Turn the ignition switch off.
b. Check that the yaw rate and acceleration sensor has been installed properly (See
INSTALLATION).

OK:

The sensor should be tightened to the specified torque.

The sensor should not be installed in a tilted position.

NOTE: Check the yaw rate and acceleration sensor signal after replacement (See
TEST MODE PROCEDURE).

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY (See

INSTALLATION)

OK: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC C1437 LOST COMMUNICATION WITH ECM

DESCRIPTION

The skid control ECU receives signals from the ECM via the CAN communication system.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 CAN communication system
When the IG1 terminal voltage is 10 V or more and the
(Skid control ECU to ECM)
C1437 vehicle speed is 15 km/h (9 mph) or more, data cannot be
sent to the ECM for 2 seconds or more.  Brake actuator assembly
(Skid control ECU)

WIRING DIAGRAM

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Refer to DTCs U0073, U0100, U0123, U0124 and U0126 (See WIRING DIAGRAM).

INSPECTION PROCEDURE

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ERROR: Momentary
EFI Communication EFI communication open
interruption NORMAL: -
Open detection/ERROR or NORMAL
Normal

OK:

There are no momentary interruptions.

HINT:

Perform the above inspection before removing the sensor and connector.

NG: Go to step 3

OK: Go to next step

2. RECONFIRM DTC
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Turn the ignition switch off.

b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 15 km/h (9 mph) or more for 10 seconds or more.
e. Check that no CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).
f. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1437) is not output A
DTC (C1437) is output B
DTC (CAN communication system DTC) is output C

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B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

C: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

3. REPAIR OR REPLACE HARNESS OR CONNECTOR (SKID CONTROL ECU - ECM)

a. Turn the ignition switch off.
b. Repair or replace the harness or connector.
c. Check for any momentary interruption between the skid control ECU and the ECM (See CHECK
FOR INTERMITTENT PROBLEMS).
d. Check that there is no momentary interruption.
4. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle at a speed of 15 km/h (9 mph) or more for 10 seconds or more.
e. Check that no CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).
f. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1437) is not output A
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DTC (C1437) is output B

DTC (CAN communication system DTC) is output C

B: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

C: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: END

DTC C1439 STEERING ANGLE SENSOR INITIALIZATION INCOMPLETE; DTC C1445 VEHICLE
DRIVEN WITH STEERING ANGLE SENSOR NOT INITIALIZED

DESCRIPTION

The skid control ECU acquires the steering angle sensor zero point every time the ignition switch is turned on

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(IG) and the vehicle is driven at 35 km/h (22 mph) or more for approximately 5 seconds. The ECU also stores
previous zero points.

Warning of the steering angle sensor zero point malfunction will be cancelled by turning the ignition switch off.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
 Steering angle
sensor
After the steering angle sensor zero point calibration is cleared due to,
for example, fluctuations in the power source, the steering angle  Yaw rate and
C1439 acceleration sensor
sensor zero point calibration cannot be obtained for 60 seconds of
continuous driving.  Brake actuator
assembly (Skid
control ECU)
 Steering angle
sensor
Steering angle sensor zero point calibration cannot be obtained when
the vehicle is driven without a record of steering angle sensor zero  Yaw rate and
C1445 acceleration sensor
point calibration at a speed of 35 km/h (22 mph) or more for 30
seconds or more without the brake pedal being depressed.  Brake actuator
assembly (Skid
control ECU)

WIRING DIAGRAM

Refer to DTCs U0073, U0100, U0123, U0124 and U0126 (See WIRING DIAGRAM).

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE:  When replacing the brake actuator assembly, perform zero point
calibration (See CALIBRATION).
 Before proceeding with the inspection, explain to the customer that the
output DTC is related to temporary loss of the steering angle zero point
calibration, such as when the power source voltage drops when the
battery is removed, and confirm that this condition occurred.

HINT:

 When U0073, U0123, U0124 and/or U0126 is output together with C1439 and/or C1445, inspect and
repair the trouble areas indicated by U0073, U0123, U0124 and/or U0126 first (See DTC U0073
CONTROL MODULE COMMUNICATION BUS OFF; DTC U0100 LOST COMMUNICATION
WITH ECM/PCM; DTC U0123 LOST COMMUNICATION WITH YAW RATE SENSOR
MODULE; DTC U0124 LOST COMMUNICATION WITH LATERAL ACCELERATION
SENSOR MODULE; DTC U0126 LOST COMMUNICATION WITH STEERING ANGLE

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SENSOR MODULE).
 When the speed sensor or the yaw rate and acceleration sensor has trouble, DTCs for the steering angle
sensor may be output even when the steering angle sensor is normal. When DTCs for the speed sensor or
yaw rate and acceleration sensor are output together with other DTCs for the steering angle sensor,
inspect and repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair
the steering angle sensor.

1. CHECK DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Turn the ignition switch off.
c. Turn the ignition switch on (IG) again and check that no CAN communication system DTCs are
output (See DIAGNOSIS SYSTEM ).
d. Drive the vehicle and turn the steering wheel to the right and left at a speed of 35 km/h (22 mph)
and check that no speed sensor and yaw rate and acceleration sensor DTCs are output (See DTC
CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1439 and/or C1445) are output A
CAN communication system DTC is output B
Speed sensor and/or yaw rate and acceleration sensor DTC is output C
DTCs (C1439 and C1445) are not output D

HINT:

 If there is a malfunction in the speed sensor or the yaw rate and acceleration sensor, an abnormal
value may be output although the steering angle sensor is normal.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the speed sensor and the yaw rate and acceleration sensor DTCs are output simultaneously, repair
the sensors and inspect the steering angle sensor. If the same DTC C1439 and/or C1445 is not
output again, the DTC may have been stored due to a temporary loss of the steering angle zero
point calibration, such as when the power source voltage drops.
 B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

C: REPAIR CIRCUIT INDICATED BY OUTPUT DTC (See DIAGNOSTIC TROUBLE CODE

CHART)

D: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

A: Go to next step

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2. CHECK STEERING ANGLE SENSOR ZERO POINT CALIBRATION
a. Drive the vehicle straight ahead at 35 km/h (22 mph) or more for at least 5 seconds.
b. Check that the centered position of the steering wheel is correctly set while driving straight ahead.

HINT:

If front wheel alignment and steering position are adjusted as a result of an off-centered position of the
steering wheel, acquire yaw rate and acceleration sensor zero point again after the adjustments are
completed.

OK:

The centered position of the steering wheel is correctly set.

NG: ADJUST FRONT WHEEL ALIGNMENT OR STEERING POSITION (See FRONT WHEEL
ALIGNMENT )

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle and turn the steering wheel to the right and left at the speed of 35 km/h (22 mph)
or more.
e. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESULT CHART
Result Proceed to
DTCs (C1439 and/or C1445) are output A
DTCs (C1439 and C1445) are not output B

HINT:

 If the same DTC C1439 and/or C1445 is not output again, the DTC may have been stored due to a
temporary loss of the steering angle zero point calibration, such as when the power source voltage
drops.
 If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: END

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A: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DTC C1440 UNUSUAL BANK ANGLE DETECTED

DESCRIPTION

If the skid control ECU determines that the vehicle is being driven at a steep bank angle, the skid control ECU
stores DTC C1440 while VSC operation is temporarily disabled.

It is not a malfunction if the system and sensor circuits are normal and if the normal VSC operation resumes.

DTC DETECTION CONDITION CHART

DTC Code DTC Detection Condition Trouble Area
C1440 Driving at a steep bank angle. Yaw rate and acceleration sensor

INSPECTION PROCEDURE

1. CHECK DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Perform a road test.
c. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC (C1440) is output A
DTC (C1440) is not output B
Yaw rate and acceleration sensor DTC is output C
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: END

C: REPAIR CIRCUIT INDICATED BY OUTPUT DTC (See DIAGNOSTIC TROUBLE CODE

CHART)

A: Go to next step

2. CLEAR DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).

HINT:

 If the skid control ECU determines that the vehicle is being driven at a steep bank angle, the skid
control ECU stores DTC C1440 while VSC operation is temporarily disabled.
 It is not a malfunction if the system and sensor circuits are normal and if the normal VSC operation
resumes.

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NEXT: END

DTC C1441 BRAKE BOOSTER MALFUNCTION

DESCRIPTION

If the brake booster is damaged and does not provide braking support when depressing the brake pedal, the skid
control ECU determines that the brake booster has a problem and stores DTC C1441 (Brake Booster
Malfunction).

DTC DETECTION CONDITION CHART

DTC Trouble
DTC Detection Condition
Code Area
When the brake pedal load sensing switch and master cylinder pressure sensor are
Brake
functioning normally and the brake pedal load sensing switch is judged as ON, the
C1441 booster
pressure signal from the master cylinder pressure sensor does not indicate an
assembly
increase.

INSPECTION PROCEDURE

1. INSPECT VACUUM SYSTEM

a. Check the brake booster assembly (See ON-VEHICLE INSPECTION ).

NEXT: END

DTC C1442 INVALID DATA RECEIVED FROM ACCELERATION SENSOR; DTC C1443 INVALID
DATA RECEIVED FROM YAW RATE SENSOR

DESCRIPTION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The skid control ECU receives signals from the yaw rate and acceleration sensor via the CAN communication
system.

The yaw rate sensor has a built-in acceleration sensor and detects the vehicle condition.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
With terminal IG1 voltage between 9.5 and 17.4 V, an invalid data signal Yaw rate and
C1442
is received from the acceleration sensor for 10 seconds or more. acceleration sensor
With terminal IG1 voltage between 9.5 and 17.4 V, an invalid data signal Yaw rate and
C1443
is received from the yaw rate sensor for 10 seconds or more. acceleration sensor

INSPECTION PROCEDURE

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NOTE: When replacing the yaw rate and acceleration sensor, perform zero point
calibration (See CALIBRATION).

1. CHECK DTC
a. Clear the DTCs (See DTC CHECK/CLEAR).
b. Start and idle the engine for 60 seconds, and then stop the engine.
c. Check if the same DTC is recorded (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTCs (C1442 and/or C1443) are output A
DTCs (C1442 and C1443) are not output B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

A: REPLACE YAW RATE AND ACCELERATION SENSOR (See REMOVAL)

DTC U0073 CONTROL MODULE COMMUNICATION BUS OFF; DTC U0100 LOST
COMMUNICATION WITH ECM/PCM; DTC U0123 LOST COMMUNICATION WITH YAW RATE
SENSOR MODULE; DTC U0124 LOST COMMUNICATION WITH LATERAL ACCELERATION
SENSOR MODULE; DTC U0126 LOST COMMUNICATION WITH STEERING ANGLE SENSOR
MODULE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

DESCRIPTION

The skid control ECU receives signals from the ECM, steering angle sensor, and yaw rate and acceleration
sensor via the CAN communication system.

DTC DETECTION CONDITION CHART

DTC
DTC Detection Condition Trouble Area
Code
Any of the following is detected:

1. When the IG1 terminal voltage is between 10 and 17.4 V,

after the output of data from the skid control ECU is
completed, the signals cannot be sent for 5 seconds or
more.
2. The condition that bus OFF state occurs once or more
within 0.1 seconds occurs 10 times in succession. (Sent

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signals cannot be received.)
U0073 3. When the IG1 terminal voltage is between 10 and 17.4 V, CAN communication system
a delay in receiving data from the yaw rate and
acceleration sensor and steering angle sensor continues
for 1 second or more.
4. When the IG1 terminal voltage is between 10 and 17.4 V,
the following occurs 10 times in succession.
 The condition that a delay in receiving data from
the yaw rate and acceleration sensor and steering
angle sensor occurs more than once within 5
seconds.
The IG1 terminal voltage is between 10 and 17.4 V and the
CAN communication system
U0100 vehicle speed is 15 km/h (9 mph) or more, data cannot be
(Skid control ECU to ECM)
received from the ECM for 2 seconds or more.
Either of the following is detected:

1. When the IG1 terminal voltage is between 10 and 17.4 V,

data from the yaw rate sensor cannot be received for 1
second or more. CAN communication system
U0123 (Skid control ECU to yaw rate
2. When the IG1 terminal voltage is between 10 and 17.4 V,
and acceleration sensor)
the following occurs 10 times in succession.
 The condition that data from the yaw rate sensor
cannot be received occurs once or more within 5
seconds.

Either of the following is detected:

U0124
1. When the IG1 terminal voltage is between 10 and 17.4 V,
data from the acceleration sensor cannot be received for 1 CAN communication system
second or more. (Skid control ECU to yaw rate
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

2. When the IG1 terminal voltage is between 10 and 17.4 V, and acceleration sensor)
the following occurs 10 times in succession.
 The condition that data from the acceleration sensor
cannot be received occurs once or more within 5
seconds.
Either of the following is detected:

1. When the IG1 terminal voltage is between 10 and 17.4 V,

data from the steering angle sensor cannot be received for
1 second or more. CAN communication system
U0126 (Skid control ECU to steering
2. When the IG1 terminal voltage is between 10 and 17.4 V,
angle sensor)
the following occurs 10 times in succession.
 The condition that data from the steering angle
sensor cannot be received occurs once or more
within 5 seconds.

cardiagn.com
WIRING DIAGRAM

Fig. 130: Lateral Acceleration Sensor And Steering Angle Sensor - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

a. Using Techstream, check for any momentary interruption in the wire harness and connector
corresponding to the DTC (See CHECK FOR INTERMITTENT PROBLEMS).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
ERROR: Momentary
EFI Communication EFI communication open
interruption NORMAL: -
Open detection/ERROR or NORMAL
Normal
ERROR: Momentary
Yaw rate sensor open
Yaw Rate Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal

cardiagn.com
ERROR: Momentary
Steering sensor open
Steering Open interruption NORMAL: -
detection/ERROR or NORMAL
Normal

Result

RESULT CHART
Result Proceed to
There is a constant open circuit A
There are no momentary interruptions B
There are momentary interruptions C

HINT:

Perform the above inspection before removing the sensor and connector.

B: Go to step 3

C: Go to step 4

A: Go to next step

2. CHECK IF EACH SENSOR AND ECM CONNECTOR IS SECURELY CONNECTED

a. Turn the ignition switch off.
b. Check if each sensor or ECM connector is securely connected.

OK:

Each connector is securely connected.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: CONNECT CONNECTOR TO EACH SENSOR OR ECM CORRECTLY

OK: Go to next step

3. RECONFIRM DTC
a. Turn the ignition switch off.
b. Record the output DTCs (for ABS, VSC system and/or CAN communication system) (See DTC
CHECK/CLEAR for ABS and VSC system, or See DIAGNOSIS SYSTEM for CAN
communication system).

HINT:

If CAN communication system DTCs and the relevant sensor DTCs are output simultaneously,
troubleshoot the relevant sensor DTCs (for ABS and/or VSC system) after the CAN communication
system returns to normal.

cardiagn.com
Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC (ABS and/or VSC system DTC) is output B
DTC (CAN communication system DTC) is output C

B: REPAIR CIRCUIT INDICATED BY OUTPUT DTC (See DIAGNOSTIC TROUBLE CODE

CHART)

C: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: CHECK FOR INTERMITTENT PROBLEMS (SYMPTOM SIMULATION) (See DIAGNOSIS

SYSTEM)

4. REPAIR OR REPLACE HARNESS OR CONNECTOR

a. Turn the ignition switch off.
b. Repair or replace the harness or connector.
c. Check for any momentary interruption between the skid control ECU and each sensor or ECM (See
CHECK FOR INTERMITTENT PROBLEMS).
d. Check that there are no momentary interruptions.
5. RECONFIRM DTC
a. Turn the ignition switch off.
b. Clear the DTCs (See DTC CHECK/CLEAR).
c. Start the engine.
d. Drive the vehicle and turn the steering wheel to the right and left at a speed of 15 km/h (9 mph) or
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

more.
e. Check that no CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).
f. If ABS and/or VSC system DTCs are output, record them.

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC (ABS and/or VSC system DTC) is output B
DTC (CAN communication system DTC) is output C

HINT:

The CAN communication system must be normal when performing troubleshooting for each sensor DTC

cardiagn.com
(for ABS and/or VSC system).

B: REPAIR CIRCUIT INDICATED BY OUTPUT DTC (See DIAGNOSTIC TROUBLE CODE

CHART)

C: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: END

ABS WARNING LIGHT REMAINS ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication. If any of the following
is detected, the ABS warning light remains on:

 The skid control ECU connectors are disconnected from the skid control ECU.
 There is a malfunction in the skid control ECU internal circuit.
 There is an open in the harness between the combination meter and the skid control ECU.
 The ABS control system is defective.

HINT:

 For vehicles with the multi-information display, the master caution indicator light will come on and a
check ABS message will be displayed on the multi-information display if the ABS control cannot be
performed.
 In some cases, Techstream cannot be used when the skid control ECU is abnormal.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 131: ABS Warning Light Remains On - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

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3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

4. INSPECT SKID CONTROL ECU (IG1 TERMINAL)

a. Disconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-34 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG1 CIRCUIT)

cardiagn.com
Fig. 132: Identifying IG1 Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. INSPECT SKID CONTROL ECU (GND1 TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-1 (GND1) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND1 CIRCUIT)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 133: Identifying GND1 Terminal Of Skid Control ECU Connector

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

6. INSPECT COMBINATION METER ASSEMBLY

a. Reconnect the skid control ECU connector.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The ABS warning light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

ABS WARNING LIGHT DOES NOT COME ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to ABS Warning Light Remains ON (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A

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DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK ABS WARNING LIGHT

a. Disconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Check that the ABS warning light comes on.

OK:

The ABS warning light comes on.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Reconnect the skid control ECU connector.
c. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

d. Check the combination meter.

OK:

The ABS warning light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

BRAKE WARNING LIGHT REMAINS ON

cardiagn.com
DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

If any of the following is detected, the brake warning light remains on:

 The skid control ECU connector is disconnected from the skid control ECU.
 The brake fluid level is insufficient.
 The parking brake is applied.
 EBD operation has been disabled.

HINT:

For vehicles with the multi-information display, the master caution indicator light will come on and a brake
malfunction message will be displayed on the multi-information display if the EBD system is malfunctioning.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 134: Brake Warning Light - Wiring Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
cardiagn.com
INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

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a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A: Go to next step

4. INSPECT SKID CONTROL ECU (IG1 TERMINAL)

a. Disconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A24-34 (IG1) - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (IG1 CIRCUIT)

cardiagn.com
Fig. 135: Identifying IG1 Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

5. INSPECT SKID CONTROL ECU (GND1 TERMINAL)

a. Turn the ignition switch off.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

A24-1 (GND1) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (GND1 CIRCUIT)

cardiagn.com
Fig. 136: Identifying GND1 Terminal Of Skid Control ECU Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

6. READ VALUE ON TECHSTREAM (PARKING BRAKE SWITCH)

a. Reconnect the skid control ECU connector.
b. Connect Techstream to the DLC3.
c. Turn the ignition switch on (IG).
d. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
ON: Parking brake applied
Parking Brake SW Parking brake switch/ON or OFF -
OFF: Parking brake released

e. Using Techstream, check the switch condition on Techstream changes according to parking brake
pedal operation.

OK:

The Techstream displays ON or OFF according to parking brake pedal operation.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: Go to step 10

OK: Go to next step

7. INSPECT BRAKE FLUID LEVEL WARNING SWITCH

a. Turn the ignition switch off.
b. Remove the reservoir filler cap and strainer.
c. Disconnect the brake fluid level warning switch connector.
d. Measure the resistance according to the value (s) in the table below.

HINT:

A float is located inside the reservoir. Its position can be changed by increasing or decreasing the level of
brake fluid.

cardiagn.com
Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
1 (+) - 2 (E) Brake fluid level warning switch OFF (Float up) 1 9 to 2.1 kohms
1 (+) - 2 (E) Brake fluid level warning switch ON (Float down) Below 1 ohms

Fig. 137: Identifying Brake Fluid Level Warning Switch Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

If there is no problem after finishing the above check, adjust the brake fluid level to the MAX level.

NG: REPLACE BRAKE MASTER CYLINDER RESERVOIR ASSEMBLY (BRAKE FLUID

LEVEL WARNING SWITCH) (See INSPECTION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

OK: Go to next step

8. CHECK HARNESS AND CONNECTOR (COMBINATION METER - BRAKE FLUID LEVEL

WARNING SWITCH)
a. Disconnect the combination meter connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
E1-28 (B/LE) - A21-1 (+) Always Below 1 ohms
E1-28 (B/LE) - Body ground Always 10 kohms or higher
A21-2 (E) - Body ground Always Below 1 ohms

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NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

OK: Go to next step

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 138: Identifying Combination Meter And Brake Fluid Level Warning Switch Connector
Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

9. INSPECT COMBINATION METER ASSEMBLY

a. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
b. Check the combination meter.

HINT:

Reinstall the connectors and restore the vehicle to its prior condition before checking the combination
meter.

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The brake warning light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

10. INSPECT PARKING BRAKE SWITCH

a. Turn the ignition switch off.
b. Disconnect the parking brake switch connector.
c. Measure the resistance according to the value (s) in the table below.

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Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
1 - Body ground Parking brake switch ON (Switch pin free) Below 1 ohms
1 - Body ground Parking brake switch OFF (Switch pin pushed in) 10 kohms or higher

NG: REPLACE PARKING BRAKE SWITCH (See DISASSEMBLY )

Fig. 139: Inspecting Parking Brake Switch

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

11. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - PARKING BRAKE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

SWITCH)
a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-29 (PKB) - A17-1 Always Below 1 ohms
A24-29 (PKB) - Body ground Always 10 kohms or higher

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

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NG: REPAIR OR REPLACE HARNESS OR CONNECTOR
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 140: Identifying Skid Control ECU And Parking Brake Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

BRAKE WARNING LIGHT DOES NOT COME ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM

Refer to Brake Warning Light Remains ON (See WIRING DIAGRAM).

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

cardiagn.com
A: Go to next step

2. CHECK BRAKE WARNING LIGHT

a. Disconnect the skid control ECU connector.
b. Turn the ignition switch on (IG).
c. Check that the brake warning light comes on.

OK:

The brake warning light comes on.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Reconnect the skid control ECU connector.
c. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
d. Check the combination meter.

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The brake warning light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

TRAC OFF INDICATOR LIGHT REMAINS ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

cardiagn.com
Pressing the VSC OFF switch turns off traction control and pressing and holding this switch turns off traction
and VSC controls. If TRAC control is turned off, the TRAC OFF indicator light will come on.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 141: TRAC OFF Indicator Light Remains On - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

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3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

4. READ VALUE ON TECHSTREAM (VSC OFF SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Measurement Item/Range Normal Condition Diagnostic Note
NORMAL: Normal
VSC OFF switch 1 NORMAL,
TRC/VSC Off Mode TRC OFF: TRAC off mode -
TRC OFF or VSC OFF
VSC OFF: VSC off mode

d. Using Techstream, check the switch condition on Techstream changes according to VSC OFF
switch operation.

OK:

The Techstream display changes according to VSC OFF switch operation.

NG: Go to step 6

OK: Go to next step

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5. INSPECT COMBINATION METER ASSEMBLY
a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The TRAC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

6. INSPECT VSC OFF SWITCH

a. Turn the ignition switch off.
b. Disconnect the VSC OFF switch connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

6 (+) - 3 (E) Switch is pushed in Below 25 ohms

6 (+) - 3 (E) Switch is not pushed in 10 kohms or higher

NG: REPLACE VSC OFF SWITCH (See REMOVAL)

cardiagn.com
Fig. 142: Inspecting VSC OFF Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - VSC OFF SWITCH)
a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-30 (CSW) - O43-6 (+) Always Below 1 ohms
A24-30 (CSW) - Body ground Always 10 kohms or higher
D43-3 (E) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 143: Identifying Skid Control ECU And VSC OFF Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

TRAC OFF INDICATOR LIGHT DOES NOT COME ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM

Refer to TRAC OFF Indicator Light Remains ON (See TRAC OFF INDICATOR LIGHT REMAINS ON).

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

cardiagn.com
A: Go to next step

2. PERFORM ACTIVE TEST USING TECHSTREAM (TRAC OFF INDICATOR LIGHT)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
TRAC OFF Indicator TRAC OFF indicator Indicator light Observe combination
Light light ON/OFF meter

d. Check that the TRAC OFF indicator light on the combination meter turns on or off in accordance
with Techstream operation.

OK:

The TRAC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The TRAC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

cardiagn.com
NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

VSC OFF INDICATOR LIGHT REMAINS ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

Pressing the VSC OFF switch turns off traction control and pressing and holding this switch turns off traction
and VSC controls. If VSC control is turned off, the VSC OFF indicator light will come on.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 144: VSC OFF Indicator Light Remains On - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

cardiagn.com
3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

4. READ VALUE ON TECHSTREAM (VSC OFF SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Diagnostic
Tester Display Measurement Item/Range Normal Condition
Note
NORMAL: Normal
TRC OFF: TRAC off
TRC/VSC Off VSC OFF switch/NORMAL, TRC OFF
mode -
Mode or VSC OFF
VSC OFF: VSC off
mode

d. Using Techstream, check the switch condition on Techstream changes according to VSC OFF
switch operation.

OK:

The Techstream display changes according to VSC OFF switch operation.

cardiagn.com
NG: Go to step 6

OK: Go to next step

5. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The VSC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

6. INSPECT VSC OFF SWITCH

a. Turn the ignition switch off.
b. Disconnect the VSC OFF switch connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
6 (+) - 3 (E) Switch is pushed in Below 25 ohms
6 (+) - 3 (E) Switch is not pushed in 10 kohms or higher

NG: REPLACE VSC OFF SWITCH (See REMOVAL)

cardiagn.com
Fig. 145: Inspecting VSC OFF Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - VSC OFF SWITCH)
a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-30 (CSW) - D43-6 (+) Always Below 1 ohms
A24-30 (CSW) - Body ground Always 10 kohms or higher
D43-3 (E) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 146: Identifying Skid Control ECU And VSC OFF Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

VSC OFF INDICATOR LIGHT DOES NOT COME ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM

Refer to VSC OFF Indicator Light Remains ON (See VSC OFF INDICATOR LIGHT REMAINS ON).

INSPECTION PROCEDURE
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

cardiagn.com
A: Go to next step

2. PERFORM ACTIVE TEST USING TECHSTREAM (VSC OFF INDICATOR LIGHT)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
VSC OFF Indicator VSC OFF indicator Indicator light Observe combination
Light light ON/OFF meter

d. Check that the VSC OFF indicator light on the combination meter turns on or off in accordance
with Techstream operation.

OK:

The VSC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The VSC OFF indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

cardiagn.com
NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

SLIP INDICATOR LIGHT REMAINS ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

If the skid control ECU stores a DTC, the slip indicator light will come on in the combination meter.

The slip indicator light blinks during VSC and/or TRAC operation.

When the system fails, the slip indicator light comes on to warn the driver (See DIAGNOSIS SYSTEM).

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 147: Slip Indicator Light Remains On - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

cardiagn.com
3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

4. INSPECT COMBINATION METER ASSEMBLY

a. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
b. Check the combination meter.

OK:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The slip indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the
table and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS
TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

SLIP INDICATOR LIGHT DOES NOT COME ON

DESCRIPTION

cardiagn.com
The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM

Refer to Slip Indicator Light Remains ON (See SLIP INDICATOR LIGHT REMAINS ON).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. PERFORM ACTIVE TEST USING TECHSTREAM (SLIP INDICATOR LIGHT)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Slip Indicator Light Slip indicator light Indicator light ON/OFF Observe combination meter

d. Check that the slip indicator light on the combination meter turns on or off in accordance with
Techstream operation.

OK:

The slip indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table

cardiagn.com
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The slip indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DOWNHILL ASSIST CONTROL INDICATOR LIGHT REMAINS ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

The downhill assist control indicator light comes on when the downhill assist control is ready.

Even if the downhill assist control switch is pressed, the downhill assist control indicator light will blink and the
downhill assist control will not be activated under the following conditions:

 ABS is malfunctioning.
 Temperature of the brake actuator increases and the downhill assist control is temporarily canceled.

HINT:

For vehicles with the multi-information display, the master caution indicator light will come on and a warning
message will be displayed on the multi-information display if the downhill assist control cannot be performed.

If any of the following conditions is met with the downhill assist control switch on, a message will be displayed
on the multi-information display to inform that the downhill assist control cannot be performed:

cardiagn.com
 The shift lever is in any position other that S1 or R.
 The vehicle speed is 25 km/h (16 mph) or more.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 148: Downhill Assist Control Indicator Light Remains On - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. CHECK IF SKID CONTROL ECU CONNECTOR IS SECURELY CONNECTED

a. Check if the skid control ECU connector is securely connected.

OK:

The connector is securely connected.

NG: CONNECT CONNECTOR TO ECU CORRECTLY

OK: Go to next step

cardiagn.com
3. CHECK BATTERY
a. Check the battery voltage.

Standard voltage:

11 to 14 V

Result

RESULT CHART
Result Proceed to
OK A
NG (for 2GR-FE) B
NG (for 1AR-FE) C

B: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 2GR-FE) (See PROBLEM

SYMPTOMS TABLE )

C: CHECK OR REPLACE CHARGING SYSTEM OR BATTERY (for 1AR-FE) (See ON-

VEHICLE INSPECTION )

A: Go to next step

4. READ VALUE ON TECHSTREAM (DOWNHILL ASSIST CONTROL SWITCH)

a. Connect Techstream to the DLC3.
b. Turn the ignition switch on (IG).
c. Select the Data List mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Normal Diagnostic
Tester Display Measurement Item/Range
Condition Note
Downhill Assist Control Downhill assist control switch/ON or ON: Switch ON
-
SW OFF OFF: Switch OFF

d. Using Techstream, check the switch condition on Techstream changes according to downhill assist
control switch operation.

OK:

The Techstream display changes according to downhill assist control switch operation.

NG: Go to step 6

OK: Go to next step

cardiagn.com
5. INSPECT COMBINATION METER ASSEMBLY
a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The downhill assist control indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

6. INSPECT DOWNHILL ASSIST CONTROL SWITCH

a. Turn the ignition switch off.
b. Disconnect the downhill assist control switch connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4 (B) -1 (E) Switch is pushed in Below 1 ohms

4 (B) -1 (E) Switch is not pushed in 10 kohms or higher

NOTE: Check the downhill assist control switch signal after replacement (See
TEST MODE PROCEDURE).

NG: REPLACE DOWNHILL ASSIST CONTROL SWITCH (See DOWNHILL ASSIST

CONTROL SWITCH (FOR 4WD))

cardiagn.com
Fig. 149: Inspecting Downhill Assist Control Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

7. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - DOWNHILL ASSIST

CONTROL SWITCH)
a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-26 (HDCS) - g2-4 (B) Always Below 1 ohms
A24-26 (HDCS) - Body ground Always 10 kohms or higher
g2-1 (E) - Body ground Always Below 1 ohms

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

cardiagn.com
Fig. 150: Identifying Skid Control ECU And Downhill Assist Control Switch Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

DOWNHILL ASSIST CONTROL INDICATOR LIGHT DOES NOT COME ON

DESCRIPTION

The skid control ECU is connected to the combination meter via CAN communication.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Refer to Downhill Assist Control Indicator Light Remains ON (See WIRING DIAGRAM).

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DIAGNOSIS SYSTEM ).

Result

RESULT CHART
Result Proceed to
DTC is not output A

cardiagn.com
DTC is output B

B: INSPECT CAN COMMUNICATION SYSTEM (See HOW TO PROCEED WITH

TROUBLESHOOTING )

A: Go to next step

2. PERFORM ACTIVE TEST USING TECHSTREAM (DOWNHILL ASSIST CONTROL

INDICATOR LIGHT)
a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Downhill Assist Control Downhill assist control Indicator light Observe combination
Light indicator light ON/OFF meter

d. Check that the downhill assist control indicator light on the combination meter turns on or off in
accordance with Techstream operation.

OK:

The downhill assist control indicator light turns on or off in accordance with Techstream operation.

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: Go to step 3

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

3. INSPECT COMBINATION METER ASSEMBLY

a. Turn the ignition switch off.
b. Perform the Active Test of the combination meter (meter CPU) using Techstream (See DATA
LIST/ACTIVE TEST ).
c. Check the combination meter.

OK:

The downhill assist control indicator light turns on or off in accordance with Techstream operation.

cardiagn.com
HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

NG: REPLACE COMBINATION METER ASSEMBLY (See REMOVAL )

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

SKID CONTROL BUZZER CIRCUIT

DESCRIPTION

The skid control buzzer sounds during VSC operation.

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 151: Skid Control Buzzer - Wiring Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. PERFORM ACTIVE TEST USING TECHSTREAM (SKID CONTROL BUZZER)

a. Connect Techstream to the DLC3.
b. Start the engine.
c. Select the Active Test mode on Techstream (See DATA LIST/ACTIVE TEST).

ABS/VSC/TRAC:

ABS/VSC/TRAC TESTER DISPLAY REFERENCE

Tester Display Test Part Control Range Diagnostic Note
Buzzer Skid control buzzer Buzzer ON/OFF Buzzer can be heard

d. Check that the buzzer sounds/stops when turning the skid control buzzer on/off by using
Techstream.

Result

RESULT CHART
Result Proceed to
Buzzer does not sound or sounds constantly A
Buzzer sounds/stops B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step (See PROBLEM SYMPTOMS TABLE).

B: END

A: Go to next step

2. INSPECT SKID CONTROL BUZZER (POWER SOURCE TERMINAL)

a. Turn the ignition switch off.
b. Disconnect the skid control buzzer connector.
c. Turn the ignition switch on (IG).
d. Measure the voltage according to the value (s) in the table below.

cardiagn.com
Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
A16-2 - Body ground Ignition switch on (IG) 11 to 14 V

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (POWER SOURCE CIRCUIT)

Fig. 152: Identifying Skid Control Buzzer Connector Terminals

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

3. INSPECT SKID CONTROL BUZZER

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

a. Turn the ignition switch off.

b. Apply battery negative voltage to terminal 1, and battery positive voltage to terminal 2 of the skid
control buzzer, and then check that the buzzer sounds.

OK:

The skid control buzzer sounds.

NG: REPLACE SKID CONTROL BUZZER (See REMOVAL)

cardiagn.com
Fig. 153: Inspecting Skid Control Buzzer
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - SKID CONTROL BUZZER)
a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-21 (BZ) - A16-1 Always Below 1 ohms
A24-21 (BZ) - Body ground Always 10 kohms or higher

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

cardiagn.com
Fig. 154: Identifying Skid Control ECU And Skid Control Buzzer Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

TC AND CG TERMINAL CIRCUIT

DESCRIPTION

Connecting terminals TC and CG of the DLC3 causes the ECU to display the DTC by blinking the ABS
warning light.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

WIRING DIAGRAM

cardiagn.com
Fig. 155: TC And CG Terminal - Circuit Diagram
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

When the warning lights continue to blink, a ground short in the wiring of terminal TC of the DLC3 or an
internal ground short in one or more ECUs is suspected.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK CAN COMMUNICATION SYSTEM

a. Check if a CAN communication system DTC is output (See DTC CHECK/CLEAR).

Result

RESULT CHART
Result Proceed to
DTC is not output A
DTC is output B
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

B: INSPECT CAN COMMUNICATION SYSTEM (See DIAGNOSTIC TROUBLE CODE

CHART)

A: Go to next step

2. INSPECT DLC3
a. Turn the ignition switch on (IG).
b. Measure the voltage according to the value (s) in the table below.

Standard voltage

VOLTAGE SPECIFICATION
Tester Connection Switch Condition Specified Condition
D47-13 (TC) - D47-4 (CG) Ignition switch on (IG) 11 to 14 V

cardiagn.com
Fig. 156: Identifying DLC3 Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
NG A
OK B

B: Go to step 5

A: Go to next step
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

3. CHECK HARNESS AND CONNECTOR (TC of DLC3 - ECM)

a. Turn the ignition switch off.
b. Disconnect the ECM connector.
c. Measure the resistance according to the value (s) in the table below.

Standard resistance

for 2GR-FE

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D47-13 (TC) - D35-23 (TC) Always Below 1 ohms
D47-13 (TC) - Body ground Always 10 kohms or higher

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for 1AR-FE

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D47-13 (TC) - D60-35 (TC) Always Below 1 ohms
D47-13 (TC) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 157: Identifying DLC3 And ECM Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

4. CHECK HARNESS AND CONNECTOR (CG of DLC3 - BODY GROUND)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D47-4 (CG) - Body ground Always Below 1 ohms

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

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Fig. 158: Identifying CG Terminal Of DLC3
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

OK: Go to next step

5. CHECK ECM (TC of DLC3 INPUT)

a. Turn the ignition switch off.
b. Reconnect the ECM connector.
c. Using SST, connect terminals TC and CG of the DLC3.

SST 09843-18040

d. Turn the ignition switch on (IG).

e. Check that the check engine warning light is blinking.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 159: Identifying CG And TC Terminals Of DLC3

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Result

RESULT CHART
Result Proceed to
Check engine warning light is blinking A
Check engine warning light is not blinking B

HINT:

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

B: REPAIR OR REPLACE WIRE HARNESS OR ECM (TC of ECM CIRCUIT)

A: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

TS AND CG TERMINAL CIRCUIT

DESCRIPTION

In Test Mode (signal check), a malfunction in a speed sensor that cannot be detected when the vehicle is
stopped can be detected while driving.

Sensor check mode can be entered by connecting terminals TS and CG of the DLC3 and turning the ignition
switch from off to on (IG).

WIRING DIAGRAM
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 160: TS And CG Terminal - Circuit Diagram

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION PROCEDURE

NOTE: When replacing the brake actuator assembly, perform zero point calibration
(See CALIBRATION).

1. CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - TS of DLC3)

a. Disconnect the skid control ECU connector.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
A24-33 (TS) - D47-12 (TS) Always Below 1 ohms
A24-33 (TS) - Body ground Always 10 kohms or higher

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 161: Identifying Skid Control ECU And DLC3 Connector Terminals
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: Go to next step

2. CHECK HARNESS AND CONNECTOR (CG of DLC3 - BODY GROUND)

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
D47-4 (CG) - Body ground Always Below 1 ohms

HINT:
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

If troubleshooting has been carried out according to the Problem Symptoms Table, refer back to the table
and proceed to the next step before replacing the part (See PROBLEM SYMPTOMS TABLE).

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

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Fig. 162: Identifying CG Terminal Of DLC3
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

OK: REPLACE BRAKE ACTUATOR ASSEMBLY (See REMOVAL)

BRAKE ACTUATOR
COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 163: Identifying Brake Actuator Components With Torque Specification (1 Of 2)

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 164: Identifying Brake Actuator Components With Torque Specification (2 Of 2)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

ON-VEHICLE INSPECTION

1. CONNECT TECHSTREAM
a. Connect Techstream to the DLC3.
b. Start the engine and run it at idle.
c. Turn the tester on.
d. Enter the following menu items: Chassis/ABS/VSC/TRAC/Active Test.

HINT:

Refer to Techstream operator's manual for further details.

2. INSPECT ACTUATOR MOTOR OPERATION

a. Enter the following menu items: Active Test/Motor Relay.
b. Turn the motor relay on, check for actuator motor operation sounds.

NOTE: Do not keep the motor relay on continuously for more than 5
seconds. If it needs to be operated repeatedly, set an interval of more
than 20 seconds between operations.

c. Turn the motor relay off.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

d. Fully depress the brake pedal and hold it for approximately 15 seconds. Check that the pedal's
initial depth is maintained for the entire 15 seconds.
e. Turn the motor relay on, check that the pedal does not pulsate.
f. Turn the motor relay off and release the brake pedal.
3. INSPECT RIGHT FRONT WHEEL OPERATION
a. Enter the following menu items: Active Test/SFRH or SFRR.
b. Depress the brake pedal and hold it.

NOTE: Do not turn on a solenoid in a manner different than that shown in

the following steps.

c. Turn the SFRH and SFRR solenoids on simultaneously, and check that the pedal cannot be
depressed further.

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NOTE: Each solenoid operates for 2 seconds and turns off automatically. If it
needs to be operated repeatedly, set an interval of more than 20
seconds between operations.

d. Turn the SFRH and SFRR solenoids off simultaneously, and check that the pedal can be depressed.
e. With the pedal still depressed, turn the motor relay on and check that the pedal returns.

NOTE: Do not keep the motor relay on continuously for more than 5
seconds. If it needs to be operated repeatedly, set an interval of more
than 20 seconds between operations.

f. Turn the motor relay off and release the brake pedal.
4. INSPECT OTHER WHEEL OPERATION
a. Using the same procedure, check the solenoids of the other wheels.

HINT:

 Left front wheel: SFLH, SFLR

 Right rear wheel: SRRH, SRRR
 Left rear wheel: SRLH, SRLR

REMOVAL

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE V-BANK COVER SUB-ASSEMBLY (for 2GR-FE) (See REMOVAL )

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

3. REMOVE NO. 1 ENGINE COVER SUB-ASSEMBLY (for 1AR-FE) (See REMOVAL )

4. REMOVE BRAKE ACTUATOR WITH BRACKET
a. Separate the relay box.

Fig. 165: Identifying Relay Box

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Remove the nut, bolt and separate the suction hose bracket from the brake actuator bracket
assembly.

Fig. 166: Locating Suction Hose Bracket Nut And Bolt

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

c. Separate the No. 1 cooler refrigerant suction tube from the 2 clamps, and then place the No. 1
cooler refrigerant suction tube next to the clamps.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 167: Identifying No. 1 Cooler Refrigerant Suction Tube And No. 1 Cooler Refrigerant
Suction Tube With Clamps
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

d. Release the lock lever and disconnect the brake actuator connector.

NOTE: Be careful not to allow brake fluid to enter the removed connector.

Fig. 168: Disconnecting Brake Actuator Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

e. Using a union nut wrench (10 mm and 12 mm), disconnect the 6 brake lines from the brake
actuator with bracket.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 169: Disconnecting Brake Lines From Brake Actuator With Bracket

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

f. Use tags or make a memo to identify the places to reconnect.

HINT:

 *1: To front wheel cylinder RH

 *2: To front wheel cylinder LH
 *3: To rear wheel cylinder RH
 *4: To rear wheel cylinder LH
 *5: From 1st of master cylinder
 *6: From 2nd of master cylinder

Fig. 170: Identifying Brake Lines Tags

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

g. Remove the 3 bolts and brake actuator with bracket from the body.

NOTE: Do not damage the brake lines or wire harness.

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Fig. 171: Locating Brake Actuator Bracket Bolts
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

5. REMOVE BRAKE ACTUATOR

a. Remove the piping clamp.

Fig. 172: Identifying Brake Actuator Piping Clamp

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Remove the 3 bolts and the brake actuator from the brake actuator bracket assembly.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 173: Identifying Brake Actuator Bracket Assembly With Bolts

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSTALLATION

1. INSTALL BRAKE ACTUATOR

a. Install the brake actuator to the brake actuator bracket assembly with the 3 bolts.

Torque: 5.4 N*m (55 kgf*cm, 48 in.*lbf)

NOTE:  Do not remove the hole plugs of a new brake actuator before
connecting the 6 brake lines because the brake actuator is filled
with brake fluid.
 Do not hold with the actuator by the connector.
 Tighten the 3 bolts in the order shown in the illustration.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 174: Identifying Brake Actuator Bracket Assembly Bolts Tightening Sequence
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Install the piping clamp to the brake actuator bracket assembly.

Fig. 175: Identifying Brake Actuator Piping Clamp

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

2. INSTALL BRAKE ACTUATOR WITH BRACKET

a. Install the brake actuator with bracket to the body with the 3 bolts.

Torque: 19 N*m (194 kgf*cm, 14 ft.*lbf)

NOTE:  Do not damage the brake lines or wire harness.

 Tighten the 3 bolts in the order shown in the illustration.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 176: Identifying Brake Actuator Bracket Bolts Tightening Sequence

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Temporarily tighten each brake line to the correct positions of the brake actuator with bracket as
shown in the illustration.

HINT:

 *1: To front wheel cylinder RH

 *2: To front wheel cylinder LH
 *3: To rear wheel cylinder RH
 *4: To rear wheel cylinder LH
 *5: From 1st of master cylinder
 *6: From 2nd of master cylinder

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Fig. 177: Identifying Brake Lines Tags
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

c. Using a union nut wrench (10 mm and 12 mm), fully tighten each brake line.

Torque: Flare Nut A (M10) without union nut wrench 15 N*m (155 kgf*cm, 11 ft.*lbf)

Flare Nut A (M10) with union nut wrench 14 N*m (143 kgf*cm, 10 ft.*lbf)

Flare Nut B (M12) without union nut wrench

20 N*m (204 kgf*cm, 15 ft.*lbf)

Flare Nut B (M12) with union nut wrench 18 N*m (184 kgf*cm, 13 ft.*lbf)
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 178: Tightening Brake Line

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE:  Use a torque wrench with a fulcrum length of 250 mm (9.84 in.).
 This torque value is effective when the union nut wrench is
parallel to the torque wrench.

d. Connect the brake actuator connector.

NOTE:  Make sure that the connector is locked securely.

 Make sure that the actuator connector can be connected
smoothly. Do not allow water, oil or dirt to enter.

Fig. 179: Connecting Brake Actuator Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

e. Install the No. 1 cooler refrigerant suction tube to the 2 clamps.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 180: Identifying No. 1 Cooler Refrigerant Suction Tube And No. 1 Cooler Refrigerant
Suction Tube With Clamps
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

f. Install the suction hose bracket to the brake actuator bracket assembly with the nut and bolt.

Torque: 9.8 N*m (100 kgf*cm, 87 in.*lbf)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 181: Locating Suction Hose Bracket Nut And Bolt
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

g. Install the relay box.

3. FILL RESERVOIR WITH BRAKE FLUID (See BRAKE FLUID )
4. BLEED BRAKE MASTER CYLINDER (See BRAKE FLUID )
5. BLEED BRAKE LINE (See REPLACEMENT )
6. BLEED BRAKE ACTUATOR (See REPLACEMENT )

Fig. 182: Identifying Relay Box

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

7. INSPECT FLUID LEVEL IN RESERVOIR (See BRAKE FLUID )

8. INSPECT FOR BRAKE FLUID LEAK
9. INSTALL V-BANK COVER SUB-ASSEMBLY (for 2GR-FE) (See INSTALLATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

10. INSTALL NO. 1 ENGINE COVER SUB-ASSEMBLY (for 1AR-FE) (See INSTALLATION )
11. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

12. INSPECT BRAKE ACTUATOR WITH TECHSTREAM

HINT:

(See ON-VEHICLE INSPECTION).

13. PERFORM YAW RATE AND ACCELERATION SENSOR ZERO POINT CALIBRATION

HINT:

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(See CALIBRATION).

14. CHECK AND CLEAR DTCS

HINT:

(See DTC CHECK/CLEAR).

FRONT SPEED SENSOR

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 183: Identifying Front Speed Sensor Components (1 Of 2)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 184: Identifying Front Speed Sensor Components (2 Of 2)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

HINT:

 Use the same procedures for the LH side and RH side.

 The following procedures is for the LH side.
 If the sensor rotor needs to be replaced, replace it together with the front drive outboard joint shaft
assembly.

for 2GR-FE (See REMOVAL )

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

for 2GR-FE (See DISASSEMBLY )

for 1AR-FE (See REMOVAL )

for 1AR-FE (See DISASSEMBLY )

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE FRONT WHEEL

3. REMOVE NO. 1 ENGINE UNDER COVER (See REMOVAL )
4. REMOVE FRONT FENDER MOULDING SUB-ASSEMBLY LH (See REMOVAL )
5. REMOVE FRONT WHEEL OPENING EXTENSION PAD (See REMOVAL )

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6. REMOVE FRONT FENDER LINER (See REMOVAL )
7. REMOVE FRONT SPEED SENSOR
a. Disconnect the front speed sensor connector and remove the 2 clamps.

Fig. 185: Locating Front Speed Sensor Connector With Clamps

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Remove the bolt and No. 2 sensor clamp from the body.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 186: Locating Bolt With No. 2 Sensor Clamp

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

c. Remove the bolt, No. 1 sensor clamp, and flexible hose together from the shock absorber assembly.

Fig. 187: Locating Bolt With No. 1 Sensor Clamp

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

d. Remove the bolt, resin clamp, and the front speed sensor.

NOTE:  Prevent foreign matter from attaching to the front speed sensor tip.
 Clean the installation hole and the contact surface for the front speed
sensor every time it is removed.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 188: Locating Bolt With Resin Clamp

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSTALLATION

HINT:

 Use the same procedures for the LH side and RH side.

 The following procedure is for the LH side.
 If the sensor rotor needs to be replaced, replace it together with the front drive outboard joint shaft
assembly.

for 2GR-FE (See INSPECTION )

for 2GR-FE (See INSTALLATION )

for 1AR-FE (See INSPECTION )

for 1AR-FE (See INSTALLATION )

1. INSTALL FRONT SPEED SENSOR

a. Install the resin clamp and the front speed sensor with bolt.

Torque: 8.0 N*m (82 kgf*cm, 71 in.*lbf)

NOTE:  Prevent foreign matter from attaching to the front speed sensor
tip.
 Firmly insert the front speed sensor body into the knuckle
before tightening the bolt.
 After installing the front speed sensor to the knuckle, make sure
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

that there is no clearance between the front speed sensor stay

and knuckle. Also make sure that no foreign matter is stuck
between the parts.
 Before installing the clamp, firmly insert the points of the clamp
into the installation holes.

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Fig. 189: Locating Front Speed Sensor Bolt With Resin Clamp
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Temporarily install the No. 1 sensor clamp.

NOTE: Be sure to insert the No. 1 sensor clamp claw into the stopper hole
while installing the No. 1 sensor clamp.

Fig. 190: Identifying No. 1 Sensor Clamp And Stopper Hole

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

c. Install the front flexible hose and the No. 1 sensor clamp together to the shock absorber with the
bolt.

Torque: 19 N*m (194 kgf*cm, 14 ft.*lbf)

NOTE:  Do not twist the wire harness for the front speed sensor when
installing it.
 A bolt tightens the brake flexible hose and front speed sensor
together. Make sure that the flexible hose is positioned over the
front speed sensor.

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Fig. 191: Locating Brake Flexible Hose Bolt
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

d. Install the No. 2 sensor clamp to the body with the bolt.

Torque: 5.0 N*m (51 kgf*cm, 44 in.*lbf)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 192: Locating Bolt With No. 2 Sensor Clamp

cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

e. Install the 2 clamps and connect the front speed sensor connector.
2. INSTALL FRONT FENDER LINER (See INSTALLATION )
3. INSTALL FRONT WHEEL OPENING EXTENSION PAD (See INSTALLATION )
4. INSTALL FRONT FENDER MOULDING SUB-ASSEMBLY LH (See INSTALLATION )
5. INSTALL NO. 1 ENGINE UNDER COVER (See INSTALLATION )
6. INSTALL FRONT WHEEL

Torque: 103 N*m (1050 kgf*cm, 76 ft.*lbf)

7. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

Fig. 193: Locating Front Speed Sensor Connector With Clamps

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

8. CHECK FOR SPEED SENSOR SIGNAL

HINT:

(See TEST MODE PROCEDURE)

REAR SPEED SENSOR (FOR 2WD)

COMPONENTS

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 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 194: Identifying Rear Speed Sensor Components With Torque Specification (For 2WD)
cardiagn.com
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

HINT:

 Use the same procedures for the RH side and LH side.

 The following procedure is for the LH side.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

 If the sensor rotor needs to be replaced, replace it together with the rear axle hub and bearing assembly
with rear speed sensor.

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE REAR WHEEL

3. SEPARATE REAR SPEED SENSOR WIRE
a. Using a screwdriver, disconnect the connector from the rear speed sensor.

NOTE: Be careful not to damage the rear speed sensor.

4. SEPARATE REAR DISC BRAKE CALIPER ASSEMBLY (See REPLACEMENT )

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5. REMOVE REAR DISC (See INSPECTION )
6. REMOVE REAR AXLE HUB AND BEARING ASSEMBLY WITH REAR SPEED SENSOR (See
REMOVAL )
7. REMOVE REAR SPEED SENSOR
a. Install the 3 hub nuts and mount the rear axle hub and bearing assembly in a vise using aluminum
plates.

NOTE: Replace the rear axle hub and bearing assembly if it is dropped or
receives a strong shock.

Fig. 195: Disconnecting Rear Speed Sensor Connector

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Using a pin punch and hammer, drive out the 2 pins and remove the 2 attachments from SST.

SST 09520-00031 (09521-00010,09520-00040), 09521-00020

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Fig. 196: Driving Out Pins
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

c. Using SST and 2 bolts (diameter: 12 mm, pitch: 1.5 mm), remove the rear speed sensor from the
rear axle hub and bearing assembly.

SST 09520-00031 (09521-00010,09520-00040), 09521-00020, 09950-00020

NOTE:  Keep the rear speed sensor away from magnets.

 Pull the rear speed sensor off straight, taking care not to allow it
to contact the rear speed sensor rotor.
 If the rear speed sensor rotor is damaged or deformed, replace
the rear axle hub and bearing assembly.
 Do not scratch the contact surface between the rear axle hub
and bearing assembly and the rear speed sensor.
 Prevent foreign matter from attaching to the rear speed sensor
rotor or tip.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 197: Removing Rear Speed Sensor From Rear Axle Hub And Bearing Assembly
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

HINT:

If the sensor rotor needs to be replaced, replace it together with the rear axle hub and bearing
assembly with rear speed sensor.

INSTALLATION

HINT:

If the sensor rotor needs to be replaced, replace it together with the rear axle hub and bearing assembly with rear
speed sensor.

1. INSTALL REAR SPEED SENSOR

a. Clean the contact surface between the rear axle hub and bearing assembly and a new rear speed
sensor.

NOTE: Prevent foreign matter from attaching to the sensor rotor.

b. Place the rear speed sensor on the axle hub so that the connector is positioned as shown in the
illustration.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 198: Identifying Rear Speed Sensor Installation Position On Axle Hub
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

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c. Using SST, a steel plates, V-blocks and press, install a new rear speed sensor to the rear axle hub
and bearing assembly.

SST 09214-76011, 09213-58013

NOTE:  Keep the rear speed sensor away from magnets.

 Do not use a hammer to install the rear speed sensor.
 Check that there is no foreign matter such as iron chips on the
detecting portion of the rear speed sensor.
 Slowly press the rear speed sensor in straight.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 199: Installing Rear Speed Sensor To Rear Axle Hub And Bearing Assembly
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

2. INSTALL REAR AXLE HUB AND BEARING ASSEMBLY WITH REAR SPEED SENSOR (See
INSTALLATION )
3. INSPECT REAR AXLE HUB BEARING LOOSENESS (See ON-VEHICLE INSPECTION )
4. INSPECT REAR AXLE HUB RUNOUT (See ON-VEHICLE INSPECTION )
5. INSTALL REAR DISC (See REASSEMBLY )
6. INSTALL REAR DISC BRAKE CALIPER ASSEMBLY (See REPLACEMENT )
7. INSTALL REAR SPEED SENSOR WIRE
a. Connect the connector to the rear speed sensor.
8. INSTALL REAR WHEEL

Torque: 103 N*m (1050 kgf*cm, 76 ft.*lbf)

9. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 200: Connecting Rear Speed Sensor Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

10. INSPECT AND ADJUST REAR WHEEL ALIGNMENT

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HINT:

(See REAR WHEEL ALIGNMENT )

11. CHECK FOR SPEED SENSOR SIGNAL

HINT:

(See TEST MODE PROCEDURE)

REAR SPEED SENSOR (FOR 4WD)

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 201: Identifying Rear Speed Sensor Components (For 4WD) (1 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 202: Identifying Rear Speed Sensor Components (For 4WD) (2 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 203: Identifying Rear Speed Sensor Components (For 4WD) (3 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 204: Identifying Rear Speed Sensor Components (For 4WD) (4 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 205: Identifying Rear Speed Sensor Components (For 4WD) (5 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 206: Identifying Rear Speed Sensor Components (For 4WD) (6 Of 6)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

HINT:

 Use the same procedures for the LH side and RH side.

 The following procedure is for the LH side.
 If the sensor rotor needs to be replaced, replace it together with the outboard joint shaft assembly.

(See REMOVAL )

(See DISASSEMBLY )

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE REAR DOOR SCUFF PLATE LH (See REMOVAL )

3. REMOVE REAR DOOR OPENING TRIM WEATHERSTRIP LH (See REMOVAL )
4. REMOVE DECK BOARD ASSEMBLY (See REMOVAL )
5. REMOVE NO. 3 DECK BOARD SUB-ASSEMBLY (See REMOVAL )
6. REMOVE NO. 2 DECK BOARD SUB-ASSEMBLY (See REMOVAL )
7. REMOVE TONNEAU COVER ASSEMBLY (w/ Tonneau Cover) (See REMOVAL )
8. REMOVE REAR NO. 1 FLOOR BOARD (w/o Rear No. 2 Seat) (See REMOVAL )
9. REMOVE REAR SEAT SIDE COVER LH (w/ Rear No. 2 Seat) (See REMOVAL )
10. REMOVE DECK SIDE TRIM BOX LH (See REMOVAL )
11. REMOVE REAR SEAT SIDE COVER RH (w/ Rear No. 2 Seat) (See REMOVAL )

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12. REMOVE JACK CARRIER SUPPORT
13. REMOVE JACK CARRIER CUSHION (See REMOVAL )
14. REMOVE JACK ASSEMBLY (See REMOVAL )
15. REMOVE JACK CARRIER ASSEMBLY (See REMOVAL )
16. REMOVE DECK SIDE TRIM BOX RH (See REMOVAL )
17. REMOVE DECK FLOOR BOARD ASSEMBLY (w/o Rear No. 2 Seat) (See REMOVAL )
18. REMOVE REAR MAT (See REMOVAL )
19. REMOVE DECK FLOOR BOARD ASSEMBLY (w/ Rear No. 2 Seat) (See REMOVAL )
20. REMOVE REAR DECK FLOOR BOX (w/o Rear No. 2 Seat) (See REMOVAL )
21. REMOVE REAR NO. 2 SEAT INNER BELT ASSEMBLY (w/ Rear No. 2 Seat) (See
INSTALLATION )
22. DISCONNECT REAR SEAT LAP TYPE BELT ASSEMBLY LH (w/ Rear No. 2 Seat) (See
REMOVAL )
23. DISCONNECT REAR SEAT LAP TYPE BELT ASSEMBLY RH (w/ Rear No. 2 Seat) (See
REMOVAL )
24. REMOVE REAR NO. 2 SEAT ASSEMBLY (w/ Rear No. 2 Seat) (See DISASSEMBLY )
25. REMOVE REAR FLOOR FINISH PLATE (See REMOVAL )
26. REMOVE DECK SIDE TRIM COVER LH (See REMOVAL )
27. REMOVE DECK SIDE TRIM LH (See REMOVAL )
28. REMOVE SIDE TRIM COVER LH (w/o Rear Seat Entertainment System) (See REMOVAL )
29. REMOVE POWER OUTLET SOCKET BEZEL (w/ Rear Seat Entertainment System) (See
REMOVAL )
30. REMOVE REAR COMBINATION LIGHT SERVICE COVER LH (See REMOVAL )
31. REMOVE REAR POWER POINT SOCKET ASSEMBLY (See REAR POWER OUTLET
SOCKET )
32. REMOVE REAR POWER OUTLET SOCKET COVER (See INSTALLATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

33. REMOVE REAR DECK TRIM COVER (w/o Remote Folding Function) (See REMOVAL )
34. REMOVE RECLINING REMOTE CONTROL BEZEL LH (w/ Remote Folding Function) (See
REMOVAL )
35. REMOVE ROPE HOOK ASSEMBLY (for LH Side) (See REMOVAL )
36. REMOVE NO. 2 DECK SIDE TRIM HOOK (See REMOVAL )
37. REMOVE FRONT DECK SIDE TRIM COVER LH (See REMOVAL )
38. REMOVE REAR NO. 1 SEAT OUTER BELT ASSEMBLY LH (See REMOVAL )
39. REMOVE DECK TRIM SIDE PANEL ASSEMBLY LH (See REMOVAL )
40. REMOVE REAR WHEEL
41. REMOVE REAR SPEED SENSOR
a. Disconnect the rear speed sensor connector.

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Fig. 207: Locating Rear Speed Sensor Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Disconnect the grommet of the rear speed sensor wire from the hole of the wheel house.
c. Remove the 2 bolts, No. 1 clamp and No. 2 clamp from the body and absorber.

Fig. 208: Identifying Rear Speed Sensor Wire Grommet, Bolts, No. 1 Clamp And No. 2
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Clamp
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

d. Remove the bolt and rear speed sensor body from the carrier.

NOTE: Keep the sensor tip and rear speed sensor installation hole free from
foreign matter.

INSTALLATION

HINT:

 Use the same procedures for the LH side and RH side.

 The following procedure is for the LH side.
 If the sensor rotor needs to be replaced, replace it together with the outboard joint shaft assembly.

cardiagn.com
(See INSPECTION )

(See INSTALLATION )

Fig. 209: Locating Rear Speed Sensor Bolt

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

1. INSTALL REAR SPEED SENSOR

a. Install the rear speed sensor with the bolt.

Torque: 8.0 N*m (82 kgf*cm, 71 in.*lbf)

NOTE:  Keep the rear speed sensor tip and sensor installation hole free
from foreign matter.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 210: Locating Rear Speed Sensor Bolt

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Install the No. 1 clamp and No. 2 clamp with the 2 bolts.

Torque: 5.0 N*m (51 kgf*cm, 44 in.*lbf)

NOTE: Do not twist the rear speed sensor wire when installing the clamp.

c. Insert the connector and grommet to the inside of the vehicle through the passage hole in the wheel
well.

NOTE: Make sure the grommet's band clamp remains on the outside of the
vehicle.

d. Hold the grommet and pull it from the inside of the vehicle to the outside of the vehicle. Then fix it
in place so that it is not tilted.

NOTE: When pulling out the grommet, do not grip the sensor wire.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 211: Identifying Rear Speed Sensor Wire Grommet, Bolts, No. 1 Clamp And No. 2

cardiagn.com
Clamp
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

e. Connect the rear speed sensor connector.

2. INSTALL DECK TRIM SIDE PANEL ASSEMBLY LH (See INSTALLATION )
3. CONNECT REAR NO. 1 SEAT OUTER BELT ASSEMBLY LH (See INSTALLATION )
4. INSTALL FRONT DECK SIDE TRIM COVER LH (See INSTALLATION )
5. INSTALL NO. 2 DECK SIDE TRIM HOOK (See INSTALLATION )
6. INSTALL ROPE HOOK ASSEMBLY (for LH Side) (See INSTALLATION )
7. INSTALL REAR DECK TRIM COVER (w/o Remote Folding Function) (See INSTALLATION )

Fig. 212: Locating Rear Speed Sensor Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

8. INSTALL RECLINING REMOTE CONTROL BEZEL LH (w/ Remote Folding Function) (See
INSTALLATION )
9. INSTALL REAR POWER OUTLET SOCKET COVER (See INSTALLATION )
10. INSTALL REAR POWER POINT SOCKET ASSEMBLY (See INSTALLATION )
11. INSTALL REAR COMBINATION LIGHT SERVICE COVER LH (See INSTALLATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

12. INSTALL SIDE TRIM COVER LH (w/o Rear Seat Entertainment System) (See
INSTALLATION )
13. INSTALL POWER OUTLET SOCKET BEZEL (w/ Rear Seat Entertainment System) (See
INSTALLATION )
14. INSTALL DECK SIDE TRIM LH (See INSTALLATION )
15. INSTALL DECK SIDE TRIM COVER LH (See INSTALLATION )
16. INSTALL REAR FLOOR FINISH PLATE (See INSTALLATION )
17. INSTALL REAR NO. 2 SEAT ASSEMBLY (w/ Rear No. 2 Seat) (See INSTALLATION )
18. CONNECT REAR SEAT LAP TYPE BELT ASSEMBLY LH (w/ Rear No. 2 Seat) (See
INSTALLATION )
19. CONNECT REAR SEAT LAP TYPE BELT ASSEMBLY RH (w/ Rear No. 2 Seat) (See
INSTALLATION )
20. INSTALL REAR NO. 2 SEAT INNER BELT ASSEMBLY (w/ Rear No. 2 Seat) (See
INSTALLATION )

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21. INSTALL REAR DECK FLOOR BOX (w/o Rear No. 2 Seat) (See INSTALLATION )
22. INSTALL DECK FLOOR BOARD ASSEMBLY (w/o Rear No. 2 Seat) (See INSTALLATION )
23. INSTALL REAR MAT (See INSTALLATION )
24. INSTALL DECK FLOOR BOARD ASSEMBLY (w/ Rear No. 2 Seat) (See INSTALLATION )
25. INSTALL DECK SIDE TRIM BOX LH (See INSTALLATION )
26. INSTALL REAR SEAT SIDE COVER LH (w/ Rear No. 2 Seat) (See INSTALLATION )
27. INSTALL DECK SIDE TRIM BOX RH (See INSTALLATION )
28. INSTALL JACK CARRIER ASSEMBLY (See INSTALLATION )
29. INSTALL JACK ASSEMBLY (See INSTALLATION )
30. INSTALL JACK CARRIER CUSHION (See INSTALLATION )
31. INSTALL JACK CARRIER SUPPORT
32. INSTALL REAR SEAT SIDE COVER RH (w/ Rear No. 2 Seat) (See INSTALLATION )
33. INSTALL REAR NO. 1 FLOOR BOARD (w/o Rear No. 2 Seat) (See INSTALLATION )
34. INSTALL TONNEAU COVER ASSEMBLY (w/ Tonneau Cover) (See INSTALLATION )
35. INSTALL NO. 2 DECK BOARD SUB-ASSEMBLY (See INSTALLATION )
36. INSTALL NO. 3 DECK BOARD SUB-ASSEMBLY (See INSTALLATION )
37. INSTALL DECK BOARD ASSEMBLY (See INSTALLATION )
38. INSTALL REAR DOOR OPENING TRIM WEATHERSTRIP LH (See INSTALLATION )
39. INSTALL REAR DOOR SCUFF PLATE LH (See INSTALLATION )
40. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

41. CHECK FOR SPEED SENSOR SIGNAL

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

HINT:

(See TEST MODE PROCEDURE)

YAW RATE AND ACCELERATION SENSOR

COMPONENTS

cardiagn.com
Fig. 213: Identifying Yaw Rate And Acceleration Sensor Components (1 Of 4)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 214: Identifying Yaw Rate And Acceleration Sensor Components (2 Of 4)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 215: Identifying Yaw Rate And Acceleration Sensor Components (3 Of 4)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 216: Identifying Yaw Rate And Acceleration Sensor Components (4 Of 4)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE CENTER INSTRUMENT CLUSTER FINISH PANEL ASSEMBLY (w/o Smart Key
System) (See REMOVAL )
3. REMOVE CENTER INSTRUMENT CLUSTER FINISH PANEL ASSEMBLY (w/ Smart Key
System) (See REMOVAL )
4. REMOVE FRONT DOOR SCUFF PLATE LH (See REMOVAL )
5. REMOVE COWL SIDE TRIM SUB-ASSEMBLY LH (See REMOVAL )
6. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See REMOVAL )
7. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See REMOVAL )
8. REMOVE FRONT DOOR SCUFF PLATE RH (See REMOVAL )
9. REMOVE COWL SIDE TRIM SUB-ASSEMBLY RH (See REMOVAL )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

10. REMOVE NO. 2 INSTRUMENT PANEL UNDER COVER SUB-ASSEMBLY (See REMOVAL )
11. REMOVE LOWER INSTRUMENT PANEL SUB-ASSEMBLY (See REMOVAL )
12. REMOVE UPPER CONSOLE PANEL SUB-ASSEMBLY (See REMOVAL )
13. REMOVE NO. 2 CONSOLE BOX DUCT (w/o Rear Air Conditioning System) (See REMOVAL )
14. REMOVE LOWER REAR CONSOLE BOX (See REMOVAL )
15. REMOVE CONSOLE BOX ASSEMBLY (w/o Rear Air Conditioning System) (See REMOVAL )
16. REMOVE CONSOLE BOX ASSEMBLY (w/ Rear Air Conditioning System) (See
DISASSEMBLY )
17. REMOVE FRONT NO. 1 CONSOLE BOX INSERT (See REMOVAL )
18. REMOVE FRONT NO. 2 CONSOLE BOX INSERT (See REMOVAL )
19. REMOVE YAW RATE AND ACCELERATION SENSOR
a. Disconnect the connector from the yaw rate and acceleration sensor.

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Fig. 217: Locating Yaw Rate And Acceleration Sensor Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Remove the 2 bolts and yaw rate and acceleration sensor.

NOTE: Do not remove the installation nuts.

Fig. 218: Locating Yaw Rate And Acceleration Sensor Bolts

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSTALLATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. INSTALL YAW RATE AND ACCELERATION SENSOR

a. Install the yaw rate and acceleration sensor with the 2 bolts.

Torque: 15 N*m (153 kgf*cm, 11 ft.*lbf)

NOTE:  Be sure to insert the yaw rate and acceleration sensor claw into
the stopper hole while installing the yaw rate and acceleration
sensor.
 Do not damage the yaw rate and acceleration sensor.
 Make sure that the yaw rate and acceleration sensor is installed
securely.

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Fig. 219: Locating Yaw Rate And Acceleration Sensor Bolts
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Connect the connector to the yaw rate and acceleration sensor.

NOTE: Make sure that the yaw rate and acceleration sensor connector is
connected securely.

2. INSTALL FRONT NO. 2 CONSOLE BOX INSERT (See INSTALLATION )

3. INSTALL FRONT NO. 1 CONSOLE BOX INSERT (See INSTALLATION )
4. INSTALL CONSOLE BOX ASSEMBLY (w/ Rear Air Conditioning System) (See
INSTALLATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 220: Identifying Yaw Rate And Acceleration Sensor Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

5. INSTALL CONSOLE BOX ASSEMBLY (w/o Rear Air Conditioning System) (See
INSTALLATION )
6. INSTALL LOWER REAR CONSOLE BOX (See INSTALLATION )
7. INSTALL NO. 2 CONSOLE BOX DUCT (w/o Rear Air Conditioning System) (See
INSTALLATION )
8. INSTALL UPPER CONSOLE PANEL SUB-ASSEMBLY (See INSTALLATION )
9. INSTALL LOWER INSTRUMENT PANEL SUB-ASSEMBLY (See INSTALLATION )
10. INSTALL NO. 2 INSTRUMENT PANEL UNDER COVER SUB-ASSEMBLY (See
INSTALLATION )
11. INSTALL COWL SIDE TRIM SUB-ASSEMBLY RH (See INSTALLATION )
12. INSTALL FRONT DOOR SCUFF PLATE RH (See INSTALLATION )

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13. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See INSTALLATION )
14. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See INSTALLATION )
15. REMOVE COWL SIDE TRIM SUB-ASSEMBLY LH (See INSTALLATION )
16. REMOVE FRONT DOOR SCUFF PLATE LH (See INSTALLATION )
17. INSTALL CENTER INSTRUMENT CLUSTER FINISH PANEL ASSEMBLY (w/ Smart Key
System) (See INSTALLATION )
18. INSTALL CENTER INSTRUMENT CLUSTER FINISH PANEL ASSEMBLY (w/o Smart Key
System) (See INSTALLATION )
19. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

20. PERFORM YAW RATE AND ACCELERATION SENSOR ZERO POINT CALIBRATION

(See CALIBRATION)

21. CHECK FOR YAW RATE SENSOR SIGNAL

(See TEST MODE PROCEDURE)

STEERING ANGLE SENSOR

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 221: Identifying Steering Angle Sensor Components With Torque Specification
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

1. PRECAUTION

(See AIRBAG SYSTEM )

2. FRONT WHEELS FACING STRAIGHT AHEAD

3. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

4. REMOVE LOWER NO. 3 STEERING WHEEL COVER (See REMOVAL )

5. REMOVE LOWER NO. 2 STEERING WHEEL COVER (See REMOVAL )
6. REMOVE STEERING PAD (See REMOVAL )
7. REMOVE STEERING WHEEL ASSEMBLY (See DISASSEMBLY )
8. REMOVE STEERING COLUMN COVER (See REMOVAL )
9. REMOVE SPIRAL CABLE WITH STEERING ANGLE SENSOR (See REMOVAL )
10. REMOVE STEERING ANGLE SENSOR
a. Disengage the 6 claws and 2 pins, and remove the steering angle sensor from the spiral cable.

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Fig. 222: Identifying Steering Angle Sensor With Claws And Pins
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSTALLATION

1. INSTALL STEERING ANGLE SENSOR

a. Align the 2 locating pins, engage the 6 claws, and install the steering angle sensor to the spiral
cable.

Fig. 223: Identifying Steering Angle Sensor With Claws And Pins
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

2. INSTALL SPIRAL CABLE WITH STEERING ANGLE SENSOR (See INSTALLATION )

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

3. INSTALL STEERING COLUMN COVER (See INSTALLATION )

4. ADJUST SPIRAL CABLE (See INSTALLATION )
5. INSTALL STEERING WHEEL ASSEMBLY (See INSTALLATION )
6. INSPECT STEERING WHEEL CENTER POINT
7. INSTALL STEERING PAD (See INSTALLATION )
8. INSTALL LOWER NO. 3 STEERING WHEEL COVER (See INSTALLATION )
9. INSTALL LOWER NO. 2 STEERING WHEEL COVER (See INSTALLATION )
10. INSPECT STEERING PAD (See INSTALLATION )
11. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

CAUTION:  When reconnecting the cable to the negative (-) battery terminal
after installing the steering sensor, check that the front tires and
steering wheel are kept aligned straight ahead before and after

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connecting the cable to the negative (-) battery terminal.
 When disconnecting the cable, some systems need to be
initialized after the cable is reconnected. (See INITIALIZATION )

12. INSPECT SRS WARNING LIGHT

(See DIAGNOSIS SYSTEM )

SKID CONTROL BUZZER

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 224: Identifying Skid Control Buzzer Components
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE FRONT DOOR SCUFF PLATE (See REMOVAL )

3. REMOVE COWL SIDE TRIM SUB-ASSEMBLY (See REMOVAL )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See REMOVAL )
5. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See REMOVAL )
6. REMOVE SKID CONTROL BUZZER
a. Disconnect the skid control buzzer connector.

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Fig. 225: Locating Skid Control Buzzer Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Remove the clamp and the skid control buzzer.

Fig. 226: Identifying Skid Control Buzzer With Clamp

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSTALLATION
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

1. INSTALL SKID CONTROL BUZZER

a. Install the clamp and skid control buzzer.

Fig. 227: Identifying Skid Control Buzzer With Clamp

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

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b. Connect the skid control buzzer connector.
2. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See INSTALLATION )
3. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See INSTALLATION )
4. INSTALL COWL SIDE TRIM SUB-ASSEMBLY (See INSTALLATION )
5. INSTALL FRONT DOOR SCUFF PLATE (See INSTALLATION )
6. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 228: Locating Skid Control Buzzer Connector
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

VSC OFF SWITCH

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 229: Identifying VSC OFF Switch Components
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE FRONT DOOR SCUFF PLATE (See REMOVAL )

3. REMOVE COWL SIDE TRIM SUB-ASSEMBLY (See REMOVAL )
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

4. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See REMOVAL )
5. REMOVE LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See REMOVAL )
6. REMOVE VSC OFF SWITCH
a. Disengage the 2 claws and remove the VSC off switch.

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Fig. 230: Removing VSC OFF Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION

1. INSPECT VSC OFF SWITCH

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
3-6 Switch is not pushed in 10 kohms or higher
3-6 Switch is pushed in Below 25 ohms

If the result is not as specified, replace the switch.

b. Check the illumination operation.

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 231: Inspecting VSC OFF Switch

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

Standard resistance

RESISTANCE SPECIFICATION
Tester Specified
Switch Condition
Connection Condition
Battery's positive (+) lead connected to terminal 5 and negative (-)
4-5 LED illuminates
lead to terminal 4

If the result is not as specified, replace the switch.

INSTALLATION

1. INSTALL VSC OFF SWITCH

a. Engage the 2 claws and install the VSC off switch.
2. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Manual Air
Conditioning System) (See INSTALLATION )
3. INSTALL LOWER INSTRUMENT PANEL FINISH PANEL SUB-ASSEMBLY (for Automatic
Air Conditioning System) (See INSTALLATION )
4. INSTALL COWL SIDE TRIM SUB-ASSEMBLY (See INSTALLATION )
5. INSTALL FRONT DOOR SCUFF PLATE (See INSTALLATION )
6. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

cardiagn.com
Fig. 232: Installing VSC OFF Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

7. CHECK FOR WARNING LIGHT AND INDICATOR LIGHT

HINT:

(See TEST MODE PROCEDURE).

BRAKE PEDAL LOAD SENSING SWITCH

ON-VEHICLE INSPECTION

1. INSPECT BRAKE PEDAL LOAD SENSING SWITCH

NOTE:  Do not remove the brake pedal load sensing switch from the brake
pedal support.
 When there is a malfunction in the brake pedal load sensing switch,
replace the brake pedal support.

a. Turn the ignition switch off.

b. Make sure that there is no looseness at the locking part and the connecting part of the connector.
c. Disconnect the brake pedal load sensing switch connector.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 233: Inspecting Brake Pedal Load Sensing Switch
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
2 (FSW+) -1 (GND) Brake pedal load sensing switch OFF (Brake pedal depressed) 950 to 1050 ohms
2 (FSW+) - 1 (GND) Brake pedal load sensing switch ON (Brake pedal released) 203 to 223 ohms

If the value is not as specified, replace the brake pedal support assembly (See REMOVAL ).

DOWNHILL ASSIST CONTROL SWITCH (FOR 4WD)

COMPONENTS
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

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Fig. 234: Identifying Downhill Assist Control Switch Components (For 4WD)
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

REMOVAL

1. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

2. REMOVE CENTER INSTRUMENT CLUSTER FINISH PANEL SUB-ASSEMBLY (w/o Smart

Key System) (See REMOVAL )
3. REMOVE CENTER INSTRUMENT CLUSTER FINISH PANEL SUB-ASSEMBLY (w/ Smart
Key System) (See REMOVAL )
4. REMOVE UPPER CONSOLE PANEL SUB-ASSEMBLY (See REMOVAL )
5. REMOVE DOWNHILL ASSIST CONTROL SWITCH
a. Remove the downhill assist control switch connector.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 235: Locating Downhill Assist Control Switch Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Disengage the 2 claws and remove the downhill assist control switch.

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Fig. 236: Locating Downhill Assist Control Switch With Claws
Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

INSPECTION

1. INSPECT DOWNHILL ASSIST CONTROL SWITCH

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

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Switch Condition Specified Condition
1-4 Switch is not pushed in 10 kohms or higher
1-4 Switch is pushed in Below 1 ohms

If the result is not as specified, replace the downhill assist control switch.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 237: Inspecting Downhill Assist Control Switch

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

2. Check the illumination operation.

1. Connect a. battery positive (+) lead to terminal 3 and negative (-) lead to terminal 2. Then check
that the bulb in the switch illuminates.

OK:

Bulb illuminates.

If the result is not as specified, replace the downhill assist control switch.

INSTALLATION

1. INSTALL DOWNHILL ASSIST CONTROL SWITCH

a. Engage the 2 claws and install the downhill assist control switch.
 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

Fig. 238: Locating Downhill Assist Control Switch With Claws

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Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

b. Connect the downhill assist control switch connector.

2. INSTALL UPPER CONSOLE PANEL SUB-ASSEMBLY (See INSTALLATION )
3. INSTALL CENTER INSTRUMENT CLUSTER FINISH PANEL SUB-ASSEMBLY (w/ Smart
Key System) (See INSTALLATION )
4. INSTALL CENTER INSTRUMENT CLUSTER FINISH PANEL SUB-ASSEMBLY (w/o Smart
Key System) (See INSTALLATION )

Fig. 239: Locating Downhill Assist Control Switch Connector

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.

5. CONNECT CABLE TO NEGATIVE BATTERY TERMINAL

NOTE: When disconnecting the cable, some systems need to be initialized after
the cable is reconnected. (See INITIALIZATION )

6. CHECK FOR WARNING LIGHT AND INDICATOR LIGHT

(See TEST MODE PROCEDURE)

 2009 Toyota Highlander Limited
2009 BRAKES Brake Control - Highlander

STOP LIGHT CONTROL RELAY

ON-VEHICLE INSPECTION

1. INSPECT STOP LIGHT CONTROL RELAY

a. Remove the stop light control relay.
b. Measure the resistance according to the value (s) in the table below.

Standard resistance

RESISTANCE SPECIFICATION
Tester Connection Condition Specified Condition
3-4 Voltage is not applied between terminals 1 and 2 Below 1 ohms
3-5 Voltage is not applied between terminals 1 and 2 10 kohms or higher
3-4 Voltage is applied between terminals 1 and 2 10 kohms or higher

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3-5 Voltage is applied between terminals 1 and 2 Below 1 ohms

If the value is not as specified, replace the stop light control relay.

Fig. 240: Stop Light Control Relay Circuit Diagram

Courtesy of TOYOTA MOTOR SALES, U.S.A., INC.