2007 Hyundai Santa Fe GLS

2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

2007 BRAKES

ESC (Electronic Stability Control) - Santa Fe

ESP/ESC SYSTEM
DESCRIPTION OF ESC

Optimum driving safety now has a name : ESC, the Electronic Stability Control.

ESC recognizes critical driving conditions, such as panic reactions in dangerous situations, and stabilizes the
vehicle by wheel-individual braking and engine control intervention with no need for actuating the brake or the
gas pedal.

ESC adds a further function known as Active Yaw Control (AYC) to the ABS, TCS, EBD and ESC functions.
Whereas the ABS/TCS function controls wheel slip during braking and acceleration and, thus, mainly
intervenes in the longitudinal dynamics of the vehicle, active yaw control stabilizes the vehicle about its vertical
axis.

This is achieved by wheel individual brake intervention and adaptation of the momentary engine torque with no
need for any action to be taken by the driver.

ESC essentially consists of three assemblies : the sensors, the electronic control unit and the actuators.

Of course, the stability control feature works under all driving and operating conditions. Under certain driving
conditions, the ABS/TCS function can be activated simultaneously with the ESC function in response to a
command by the driver.

In the event of a failure of the stability control function, the basic safety function, ABS, is still maintained.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 1: ESC Recognizes Critical Driving Conditions

Courtesy of HYUNDAI MOTOR CO.

DESCRIPTION OF ESC CONTROL

ESC system includes ABS/EBD, TCS and AYC (Active yaw control) function.

ABS/EBD function : The ECU changes the active sensor signal (current shift) coming from the four wheel
sensors to the square waveform. By using the input of above signals, the ECU calculates the vehicle speed and
the acceleration & deceleration of the four wheels. And, the ECU judges whether the ABS/EBD should be
actuated or not.

TCS function prevents the wheel slip of drive direction by adding the brake pressure and engine torque
reduction via CAN communication. TCS function uses the wheel speed sensor signal to determine the wheel
slip as far as ABS function.

AYC function prevents unstable maneuver of the vehicle. To determine the vehicle maneuver, AYC function
uses the maneuver sensor signals (Yaw Rate Sensor, Lateral Acceleration Sensor, Steering Wheel Angle
Sensor). If vehicle maneuver is unstable (Over Steer or Under Steer), AYC function applies the brake pressure
on certain wheel, and send engine torque reduction signal by CAN.

After the key-on, the ECU continually diagnoses the system failure, (self-diagnosis)If the system failure is
detected, the ECU informs driver of the system failure through the BRAKE/ABS/ESC warning lamp, (fail-safe
warning)

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 2: ESC Control Function Diagrams

Courtesy of HYUNDAI MOTOR CO.

VARIANT CODING

The HECU is programmed with a variant code based on the vehicle powertrain configuration. This variant code
is used to determine the appropriate ESC calculations. Variant code programming should be performed
whenever an HECU is replaced.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 3: Vehicle Powertrain Configuration - Variant Coding

Courtesy of HYUNDAI MOTOR CO.

PROCEDURE OF VARIANT CODING

1. Install a PCM (ECM & TCM)/ESC normally.

2. Connect the scan tool to the data link connector located underneath the dash panel.
3. Select vehicle name.
4. Select ANTI-LOCK BRAKE SYSTEM.
5. Select the variant coding.

Fig. 4: Scan Tool Display - Variant Coding

Courtesy of HYUNDAI MOTOR CO.

6. Follow the next procedure according to the comment

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 5: Scan Tool Display - Variant Coding

Courtesy of HYUNDAI MOTOR CO.

7. Confirm the condition, and then push the "REST"

Fig. 6: Scan Tool Display - Reset

Courtesy of HYUNDAI MOTOR CO.

8. If the procedure is finished, the screen is displayed as shown below.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 7: Scan Tool Display - Calibration Completion

Courtesy of HYUNDAI MOTOR CO.

9. IGN off.
10. IGN on.
11. The variant coding is completed.

CAUTION: If the warning lamp (ESC, EBD, ABS) is illuminated, follow the
"Variant coding" again.

INPUT AND OUTPUT DIAGRAM

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 8: ESC HECU - Input And Output Diagram

Courtesy of HYUNDAI MOTOR CO.

ESC OPERATION MODE

1. STEP 1

The ESC analyzes the intention of the driver.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 9: ESC Operation Mode - ESC Analyzes Intention Of Driver (Step 1)

Courtesy of HYUNDAI MOTOR CO.

2. STEP 2

It analyzes the movement of the ESC vehicle.

Fig. 10: ESC Operation Mode - Movement Of ESC Vehicle (Step 2)

Courtesy of HYUNDAI MOTOR CO.

3. STEP 3

the HECU calculates the required strategy, then actuates the appropriate valves and sends torque control
requests via CAN to maintain vehicle stability.

ESC OPERATION MODE

1. ESC Non-operation-Normal braking.

ESC NON-OPERATION-NORMAL BRAKING REFERENCE

Inlet valve Outlet valve Pilot valve High pressure switch valve Pump
(EV) (AV) (USV) (HSV) motor
Normal
Open Close Open Close OFF
braking

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 11: ESC Non-Operation-Normal Braking - Circuit Diagram

Courtesy of HYUNDAI MOTOR CO.

NOTE: EV: Inlet Valve

AV: Outlet Valve
LR : Rear left wheel
RF: Front right wheel
LF: Front left wheel
RR : Rear right wheel
PE: Pump motor
USV: Pilot Valve
HSV: High pressure Switch Valve

2. ESC INCREASE MODE

ESC INCREASE MODE REFERENCE

Inlet valve Outlet valve Pilot valve High pressure switch
Pump motor
(EV) (AV) (USV) valve (HSV)
Normal ON (Motor speed
Open Close Close (Partial) Open
braking control)

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 12: ESC Increase Mode - Circuit Diagram

Courtesy of HYUNDAI MOTOR CO.

NOTE: EV: Inlet Valve

AV: Outlet Valve
LR : Rear left wheel
RF: Front right wheel
LF: Front left wheel
RR : Rear right wheel
PE: Pump motor
USV: Pilot Valve
HSV: High pressure Switch Valve

3. ESC HOLD MODE ( FR is only controlled.)

ESC HOLD MODE OPERATION REFERENCE

Inlet valve Outlet valve Pilot valve High pressure switch
Pump motor
(EV) (AV) (USV) valve (HSV)
ON (Motor speed low
Normal braking Close Close Close (Partial) Open
control)

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 13: ESC Hold Mode ( FR Only Controlled.) - Circuit Diagram

Courtesy of HYUNDAI MOTOR CO.

NOTE: EV: Inlet Valve

AV: Outlet Valve
LR: Rear left wheel
RF : Front right wheel
LF: Front left wheel
RR: Rear right wheel
PE: Pump motor
USV: Pilot Valve
HSV: High pressure Switch Valve

4. ESC DECREASE MODE (FR is only controlled)

ESC DECREASE MODE OPERATION REFERENCE

Inlet valve Outlet valve Pilot valve High pressure switch
Pump motor
(EV) (AV) (USV) valve (HSV)
Normal ON (Motor speed low
Close Open Close (Partial) Open
braking control)

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 14: ESC Decrease Mode (FR Only Controlled) - Circuit Diagram
Courtesy of HYUNDAI MOTOR CO.

NOTE: EV: Inlet Valve

AV: Outlet Valve
LR : Rear left wheel
RF: Front right wheel
LF: Front left wheel
RR : Rear right wheel
PE: Pump motor
USV: Pilot Valve
HSV: High pressure Switch Valve

Fig. 15: Identifying ABS Warning Lamp, ESC/ESC OFF Lamp And BRAKE/EBD Lamp
Courtesy of HYUNDAI MOTOR CO.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

ABS WARNING LAMP MODULE

The active ABS warning lamp module indicates the self-test and failure status of the ABS The ABS warning
lamp shall be on:

 During the initialization phase after IGN ON. (continuously 3 seconds).

 In the event of inhibition of ABS functions by failure.
 During diagnostic mode.
 When the ECU Connector is separated from ECU.

EBD/PARKING BRAKE WARNING LAMP MODULE

The active EBD warning lamp module indicates the self-test and failure status of the EBD. However, in case the
Parking Brake Switch is turned on, the EBD warning lamp is always turned on regardless of EBD functions.
The EBD warning lamp shall be on:

 During the initialization phase after IGN ON. (continuously 3 seconds).

 When the Parking Brake Switch is ON or brake fluid level is low.
 When the EBD function is out of order.
 During diagnostic mode.
 When the ECU Connector is separated from ECU.

ESC WARNING LAMP (ESC SYSTEM)

The ESC warning lamp indicates the self-test and failure status of the ESC.

The ESC warning lamp is turned on under the following conditions :

 During the initialization phase after IGN ON. (continuously 3 seconds).

 In the event of inhibition of ESC functions by failure.
 When driver turn off the ESC function by on/off switch.
 During diagnostic mode.

ESC FUNCTION LAMP (ESC SYSTEM)

The ESC function lamp indicates the self-test and operating status of the ESC.

The ESC Function lamp operates under the following conditions :

 During the initialization phase after IGN ON. (continuously 3 seconds).

 When the ESC control is operating. (Blinking - 2Hz)

ESC ON/OFF SWITCH (ESC SYSTEM)

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The ESC On/Off Switch shall be used to toggle the ESC function between On/Off states based upon driver
input. The On/Off switch shall be a normally open, momentary contact switch.

Initial status of the ESC function is on and the switch is used to request an ESC status change.

COMPONENTS

Fig. 16: Identifying ESC (Electronic Stability Control) Components

Courtesy of HYUNDAI MOTOR CO.

ESC CIRCUIT DIAGRAM (1)

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 17: ESC Circuit Diagram (1 Of 2)

Courtesy of HYUNDAI MOTOR CO.

ESC CIRCUIT DIAGRAM (2)

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 2007 Hyundai Santa Fe GLS
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Fig. 18: ESC Circuit Diagram (2 Of 2)

Courtesy of HYUNDAI MOTOR CO.

ESC HECU CONNECTOR INPUT / OUTPUT

Fig. 19: Identifying ESC HECU Connector Terminals Input / Output

Courtesy of HYUNDAI MOTOR CO.

ESC HECU CONNECTOR TERMINALS REFERENCE

Connector Terminal
Specifications Conditions
No Description
1 Ground (Pump) Current range : Min-10 A Max-20 ~ 39 A Always
4 Ground (Valve, ECU) Current range : Min-2.5 A Max-5 ~ 15 A Always
2 Supply voltage (Pump)
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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

3 Supply voltage (Valve) Battery voltage Always

Wheel sensor voltage
26
(FL)
Wheel sensor voltage
9
(FR)
Battery voltage IG ON
Wheel sensor voltage
6
(RL)
Wheel sensor voltage
8
(RR)
Wheel sensor signal
5
(FL)
Wheel sensor signal
10
(FR) Voltage (High) : 0.89~1.26
RUNNING
Wheel sensor signal V Voltage (Low) : 0.44~0.63 V
27
(RL)
Wheel sensor signal
29
(RR)
Voltage (High) : 0.8 * IG ON more SCAN TOOL
11 Diagnosis Input/output
Voltage (Low) : 0.2 * IG ON lower Communication
28 Ignition Battery voltage KEY ON/OFF
Voltage (High) : 0.6 * IG ON more
31 ESC Passive switch Switch ON/OFF
Voltage (Low): 0.4 * IG ON lower
Voltage (High) : 4.1 V more
37 Yaw Rate Sensor Test IG ON
Voltage (Low) : 1 V lower
Yaw Rate Sensor
18 2.464 V ~ 2.536 V IG ON
Reference
Yaw Rate Sensor Offset voltage :2.5 V range : 0.35 V ~ 4.65 V (-100
16 IG ON
Signal ~ 100 * /s)
Acceleration Sensor Offset voltage :2.5 V range : 0.35 V ~ 4.65 V (-1.8
20 IG ON
Signal g ~ 1.8 g)
Yaw Rate Sensor
15 GND LEVEL Always
Ground

35 CAN High
IG ON
14 CAN Low

BRAKE LIGHT voltage (High) : 0.8 * IG ON more

30 BRAKE ON/OFF
SWITCH voltage (Low) : 0.3 * IG ON lower

FAILURE DIAGNOSIS

1. In principle, ESC and TCS controls are prohibited in case of ABS failure.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

2. When ESC or TCS fails, only the failed system control is prohibited.
3. However, when the solenoid valve relay should be turned off in case of ESC failure, refer to the ABS fail-
safe.
4. Information on ABS fail-safe is identical to the fail-safe in systems where ESC is not installed.

MEMORY OF FAIL CODE

1. It keeps the code as far as the backup lamp power is connected. (O)
2. It keeps the code as long as the HCU power is on. (X)

FAILURE CHECKUP

1. Initial checkup is performed immediately after the HECU power on.

2. Valve relay checkup is performed immediately after the IG2 ON.
3. It executes the checkup all the time while the IG2 power is on.
4. Initial checkup is made in the following cases.
1. When no failure is detected
2. When ABS and ESC are not in control.
3. Initial checkup is not made after ECU power on.
4. If the vehicle speed is over 5 mph (8 km/h) when the brake lamp switch is off.
5. When the vehicle speed is over 24.8 mph (40 km/h).
5. Though, it keeps on checkup even if the brake lamp switch is on.
6. When performing ABS or ESC control before the initial checkup, stop the initial checkup and wait for the
HECU power input again.
7. Judge failure in the following cases.
1. When the power is normal.
2. From the point in which the vehicle speed reaches 4.9 mph (8 km/h) after HECU power on.

COUNTERMEASURES IN FAIL

1. Shut the system down and perform the following actions and wait for HECU power OFF.
2. Turn the valve relay off.
3. Do not perform any ABS/TCS/ESC functions until normal operating condition is restored.

WARNING LAMP ON

1. ABS warning lamp turns on when ABS is malfunctioning.

2. ESC operation lamp turns on when ESC is malfunctioning.

When power voltage and valve relay voltage are abnormal, input/output related failure judgment is not
made.

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STANDARD FLOW OF DIAGNOSTIC TROUBLESHOOTING

Fig. 20: Diagnostic Troubleshooting Flow Chart

Courtesy of HYUNDAI MOTOR CO.

NOTES WITH REGARD TO DIAGNOSIS

The phenomena listed in the following table are not abnormal.

PHENOMENA CHART
Phenomenon Explanation
When starting the engine, a thudding sound can sometimes be heard coming from
System check sound inside the engine compartment. This is because the system operation check is being
performed.
1. Sound of the motor inside the ABS hydraulic unit operation (whine).
ABS operation 2. Sound is generated along with vibration of the brake pedal (scraping).
sound 3. When ABS operates, sound is generated from the vehicle chassis due to
repeated brake application and release (Thump : suspension; squeak: tires)
For road surfaces such as snow-covered and gravel roads, the braking distance for
ABS operation
vehicles with ABS can sometimes be longer than that for other vehicles.
(Long braking
Accordingly, advise the customer to drive safely on such roads by lowering the
distance)
vehicle speed.
Diagnosis detection conditions can vary depending on the diagnosis code. When checking the trouble
symptom after the diagnosis code has been erased, ensure that the requirements listed in "Comment" are
met.

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SCAN TOOL CHECK

1. Turn the ignition switch OFF.

2. Connector the Scan tool to the 16P data link connector located the driver's side kick panel.

Fig. 21: Connecting Scan Tool To 16P Data Link Connector

Courtesy of HYUNDAI MOTOR CO.

3. Turn the ignition switch ON.

4. Check for DTC using the Scan tool
5. After completion trouble of the repair or correction of the problem, erase the stored fault codes using the
scan tool.
6. Disconnect the Scan tool from the 16P data link connector.

ABS CHECK SHEET

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Fig. 22: ABS Check Sheet

Courtesy of HYUNDAI MOTOR CO.

PROBLEM SYMPTOMS TABLE

If a normal code is displayed during the DTC check but the problem still occurs, check the circuits for each
problem symptom in the order given in the table below and proceed to the relevant troubleshooting page.

PROBLEM SYMPTOMS CHART

Symptom Suspect Area See page

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Only when 1.-4. are all normal

and the problem is still
occurring, replace the HECU.

1. Check the DTC

ABS does not operate. reconfirming that the ABS DOES NOT OPERATE.
normal code is output.
2. Power source circuit.
3. Speed sensor circuit.
4. Check the hydraulic
circuit for leakage.
Only when 1.-4. are all normal
and the problem is still
occurring, replace the ABS
actuator assembly.

1. Check the DTC

ABS does not operate reconfirming that the ABS DOES NOT OPERATE
intermittently. system is operating to (INTERMITTENTLY).
specifications.
2. Wheel speed sensor
circuit.
3. Stop lamp switch circuit.
4. Check the hydraulic
circuit for leakage.
Communication with Scan COMMUNICATION WITH SCAN-
tool is not possible. 1. Power source circuit TOOL IS NOT POSSIBLE.
(Communication with any 2. Diagnosis line (COMMUNICATION WITH ANY
system is not possible) SYSTEM IS NOT POSSIBLE)
Communication with Scan 1. Power source circuit COMMUNICATION WITH SCAN
tool is not possible. TOOL IS NOT POSSIBLE.
(Communication with ABS 2. Diagnosis line (COMMUNICATION WITH ABS
only is not possible) 3. HECU ONLY IS NOT POSSIBLE)
When ignition key is turned WHEN IGNITION KEY IS TURNED
ON (engine OFF), the ABS 1. ABS warning lamp circuit ON (ENGINE OFF), THE ABS
warning lamp does not light 2. HECU WARNING LAMP DOES NOT LIGHT
up. UP.
Even after the engine is EVEN AFTER THE ENGINE IS
1. ABS warning lamp circuit
started, the ABS warning STARTED, THE ABS WARNING
lamp remains ON. 2. HECU LAMP REMAINS ON.

CAUTION: During ABS operation, the brake pedal may vibrate or may not be able to
be depressed. Such phenomena are due to intermittent changes in
hydraulic pressure inside the brake line to prevent the wheels from locking

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and is not an abnormality.

ABS DOES NOT OPERATE

DETECTING CONDITION

TROUBLE SYMPTOMS AND POSSIBLE CAUSE

Trouble Symptoms Possible Cause
 Inoperative power
source circuit
 Inoperative wheel
Brake operation varies depending on driving conditions and road surface
speed sensor
conditions, so diagnosis can be difficult. However if a normal DTC is
circuit
displayed, check the following probable cause. When the problem is still
occurring, replace the ESC control module.  Inoperative
hydraulic circuit
for leakage
 Inoperative HECU

INSPECTION PROCEDURES

DTC INSPECTION

1. Connect the Scan Tool with the data link connector and turn the ignition switch ON.
2. Verify that the system is operating to specifications. Is the system operating to specifications?

YES

 Check the power source circuit.

NO

 Erase the DTC and recheck using Scan Tool.

CHECK THE POWER SOURCE CIRCUIT

1. Disconnect the connector from the ESC control module.

2. Turn the ignition switch ON, measure the voltage between terminal 28 of the ESC control module harness
side connector and body ground.

Specification: approximately B+

Is the voltage within specification?

YES

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 Check the ground circuit.

NO

 Check the harness or connector between the fuse (10A) in the engine compartment junction block
and the ESC control module. Repair if necessary.

Fig. 23: Measuring Voltage Between Terminal 28 Of ESC Control Module Harness
Connector And Body Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK THE GROUND CIRCUIT

1. Disconnect the connector from the ESC control module.

2. Check for continuity between terminals 1,4 of the ESC control module harness side connector and ground
point.

Is there continuity?

YES

 Check the wheel speed sensor circuit.

NO

 Repair an open in the wire and ground point.

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Fig. 24: Checking Continuity Between Terminals 1,4 Of ESC Control Module Harness
Connector And Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK THE WHEEL SPEED SENSOR CIRCUIT

Refer to the DTC troubleshooting procedures. Is the system operating to specifications?

YES

 Check the hydraulic circuit for leakage.

NO

 Repair or replace the wheel speed sensor.

CHECK THE HYDRAULIC CIRCUIT FOR LEAKAGE

Refer to the hydraulic lines.

Inspect leakage of the hydraulic lines.

Is the system operating to specifications?

YES

 The problem is still occurring, replace the ESC control module.

NO

 Replace the leaking hydraulic lines.

ABS DOES NOT OPERATE (INTERMITTENTLY)

DETECTING CONDITION

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

TROUBLE SYMPTOMS AND POSSIBLE CAUSE

Trouble Symptoms Possible Cause
 Inoperative power
source circuit
 Inoperative wheel
Brake operation varies depending on driving conditions and road surface
speed sensor
conditions, so diagnosis can be difficult. However if a normal DTC is
circuit
displayed, check the following probable cause. When the problem is still
occurring, replace the ESC control module.  Inoperative
hydraulic circuit
for leakage
 Inoperative HECU

INSPECTION PROCEDURES

DTC INSPECTION

1. Connect the Scan Tool with the data link connector and turn the ignition switch ON.
2. Verify that the system is operating to specifications. Is the system operating to specifications?

YES

 Check the wheel speed sensor circuit.

NO

 Erase the DTC and recheck using Scan Tool.

CHECK THE WHEEL SPEED SENSOR CIRCUIT.

Refer to the DTC troubleshooting procedures.

Is the system operating to specifications?

YES

 Check the stop lamp switch circuit.

NO

 Repair or replace the wheel speed sensor.

CHECK THE STOP LAMP SWITCH CIRCUIT.

1. Check that stop lamp lights up when brake pedal is depressed and turns off when brake pedal is released.
2. Measure the voltage between terminal 30 of the ESC control module harness side connector and body
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ground when brake pedal is depressed.

Specification: approximately B+

Is the voltage within specification?

YES

 Check the hydraulic circuit for leakage.

NO

 Repair the stop lamp switch. Repair an open in the wire between the ESC control module and the
stop lamp switch.

Fig. 25: Measuring Voltage Between Terminal 30 Of ESC Control Module Harness
Connector And Body Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK THE HYDRAULIC CIRCUIT FOR LEAKAGE.

Refer to the hydraulic lines.

Inspect leakage of the hydraulic lines.

Is the system operating to specifications?

YES

 The problem is still occurring, replace the ESC control module.

NO

 Replace the leaking hydraulic lines.

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COMMUNICATION WITH SCAN-TOOL IS NOT POSSIBLE. (COMMUNICATION WITH ANY

SYSTEM IS NOT POSSIBLE)

DETECTING CONDITION

TROUBLE SYMPTOMS AND POSSIBLE CAUSE CHART

Trouble Symptoms Possible Cause
 An open in the wire
Possible malfunction in the power supply system (including ground)  Poor ground
for the diagnosis line.  Inoperative power source
circuit

INSPECTION PROCEDURES

CHECK THE POWER SUPPLY CIRCUIT FOR THE DIAGNOSIS

Measure the voltage between terminal 9 of the data link connector and body ground.

Specification: approximately B+

Is voltage within specification?

YES

 Check the ground circuit for the diagnosis.

NO

 Repair an open in the wire. Check and replace fuse (15A) from the engine compartment junction block.

Fig. 26: Measuring Voltage Between Terminal 9 Of Data Link Connector And Body Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK THE GROUND CIRCUIT FOR THE DIAGNOSIS

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Check for continuity between terminal 5 of the data link connector and body ground.

Is there continuity?

NO

 Repair an open in the wire between terminal 5 of the data link connector and ground point.

Fig. 27: Checking Continuity Between Terminal 5 Of Data Link Connector And Body Ground
Courtesy of HYUNDAI MOTOR CO.

COMMUNICATION WITH SCAN TOOL IS NOT POSSIBLE. (COMMUNICATION WITH ABS

ONLY IS NOT POSSIBLE)

DETECTING CONDITION

TROUBLE SYMPTOMS AND POSSIBLE CAUSE CHART

Trouble Symptoms Possible Cause
 An open in the wire
When communication with Scan Tool is not possible, the cause may be
probably an open in the HECU power circuit or an open in the diagnosis  Inoperative HECU
output circuit.  Inoperative power
source circuit

INSPECTION PROCEDURES

CHECK FOR CONTINUITY IN THE DIAGNOSIS LINE

1. Disconnect the connector from the ESC control module.

2. Check for continuity between terminals 11 of the ESC control module connector and 1 of the data link
connector.

Is there continuity?

YES

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 Check the power source of ESC control module.

NO

 Repair an open in the wire.

CHECK THE POWER SOURCE OF ESC CONTROL MODULE

1. Disconnect the connector from the ESC control module.

2. Turn the ignition switch ON, measure the voltage between terminal 28 of the ESC control module harness
side connector and body ground.

Specification: approximately B+

Is voltage within specification?

YES

 Check for poor ground.

NO

 Check the harness or connector between the fuse (10A) in the engine compartment junction block
and the ESC control module. Repair if necessary.

Fig. 28: Measuring Voltage Between Terminal 28 Of ESC Control Module Harness
Connector And Body Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK FOR POOR GROUND

Check for continuity between terminal 5 of the data link connector and ground point.

YES

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 Replace the ESC control module and recheck.

NO

 Repair an open in the wire or poor ground.

Fig. 29: Checking Continuity Between Terminal 5 Of Data Link Connector And Ground
Courtesy of HYUNDAI MOTOR CO.

WHEN IGNITION KEY IS TURNED ON (ENGINE OFF), THE ABS WARNING LAMP DOES NOT
LIGHT UP

DETECTING CONDITION

TROUBLE SYMPTOMS AND POSSIBLE CAUSE CHART

Trouble Symptoms Possible Cause
 Inoperative ESC
warning lamp bulb
When current flows in the HECU the ESC warning lamp turns from ON to  Blown No.2 fuse (10A)
OFF as the initial check. Therefore if the lamp does not light up, the cause in the engine
may be an open in the lamp power supply circuit, a blown bulb, an open in compartment junction
the both circuits between the ESC warning lamp and the HECU, and the block
inoperative HECU.  Inoperative ABS
warning lamp module
 Inoperative HECU

INSPECTION PROCEDURES

PROBLEM VERIFICATION

Disconnect the connector from the ESC control module and turn the ignition switch ON.

Does the ABS warning lamp light up?

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YES

 It is normal. Recheck the ESC control module.

NO

 Check the power source for the ABS warning lamp.

CHECK THE POWER SOURCE FOR THE ABS WARNING LAMP

1. Disconnect the instrument cluster connector and turn the ignition switch ON.
2. Measure the voltage between terminal 2 of the cluster harness side connector (M15-A) and body ground.

Specification: approximately B+

Is voltage within specification?

YES

 Repair bulb or instrument cluster assembly.

NO

 Check for blown fuse.

Fig. 30: Measuring Voltage Between Terminal 2 Of Cluster Harness Side Connector (M15-A)
And Body Ground
Courtesy of HYUNDAI MOTOR CO.

CHECK FOR BLOWN FUSE

Check continuity of fuse (10A) from the engine compartment junction block.

Is there continuity?

YES
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 Repair an open in the wire between ABS fuse and 1 of cluster connector.

NO

 Replace the blown fuse.

EVEN AFTER THE ENGINE IS STARTED, THE ABS WARNING LAMP REMAINS ON

DETECTING CONDITION

TROUBLE SYMPTOMS AND POSSIBLE CAUSE CHART

Trouble Symptoms Possible Cause
 An open in the
wire
 Inoperative
If the HECU detects trouble, it lights the ESC warning lamp while at the same instrument
time prohibiting ESC control. At this time, the HECU records a DTC in memory. cluster assembly
Even though the normal code is output, the ESC warning lamp remains ON, then  Inoperative ESC
the cause may be probably an open or short in the ABS warning lamp circuit. warning lamp
module
 Inoperative
HECU

INSPECTION PROCEDURES

CHECK DTC OUTPUT.

1. Connect the Scan Tool to the 16P data link connector located behind the driver's side kick panel.
2. Check the DTC output using Scan Tool.

Is DTC output?

YES

 Repair circuit indicated by code output.

NO

 Check instrument cluster.

CHECK INSTRUMENT CLUSTER

Disconnect the cluster connector and turn the ignition switch ON.

Does the ESC warning lamp remains ON?

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YES

 Replace the instrument cluster.

NO

 Check for open the wire.

CHECK FOR OPEN IN THE WIRE

Check for continuity in the wire between cluster and ESC control module.

Is there continuity?

YES

 Replace the ESC control module and recheck.

NO

 Repair an open in the wire between cluster and ESC control module.

BLEEDING OF BRAKE SYSTEM

This procedure should be followed to ensure adequate bleeding of air and filling of the ESC unit, brake lines
and master cylinder with brake fluid.

1. Remove the reservoir cap and fill the brake reservoir with brake fluid.

CAUTION: If there is any brake fluid on any painted surface, wash it off
immediately.

NOTE: When pressure bleeding, do not depress the brake pedal.

Recommended fluid........ DOT3

2. Connect a clear plastic tube to the brake caliper bleeder plug and insert the other end of the tube into a
half filled clear plastic bottle.

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Fig. 31: Connecting Clear Plastic Tube To Brake Caliper Bleeder Plug
Courtesy of HYUNDAI MOTOR CO.

3. Connect the scan tool to the data link connector located underneath the dash panel.

Fig. 32: Connecting Scan Tool To Data Link Connector

Courtesy of HYUNDAI MOTOR CO.

4. Select and operate according to the instructions on the scan tool screen.

CAUTION: You must obey the maximum operating time of the ABS motor with
the scan tool to prevent the motor pump from burning.

1. Select Hyundai vehicle diagnosis.

2. Select vehicle name.
3. Select Anti-Lock Brake system.
4. Select air bleeding mode.
5. Press "YES" to operate motor pump and solenoid valve.
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Fig. 33: Scan Tool Display - Air Bleeding Mode

Courtesy of HYUNDAI MOTOR CO.

6. Wait 60 sec. before operating the air bleeding again. (If not, you may damage the motor.)

Fig. 34: Scan Tool Display - Air Bleeding Mode

Courtesy of HYUNDAI MOTOR CO.

5. Pump the brake pedal several times, and then loosen the bleeder screw until fluid starts to run out without
bubbles. Then close the bleeder screw.
6. Repeat step 5 until there are no more bubbles in the fluid for each wheel.

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Fig. 35: Identifying Brake System Bleeding Steps

Courtesy of HYUNDAI MOTOR CO.

7. Tighten the bleeder screw.

Bleed screw tightening torque:

7~1 3 Nm (0.7 ~ 1.3 kgf-m, 5.1 ~ 9.4 lb-ft)

DIAGNOSTIC TROUBLE CODE CHART (DTC)

• MIL ON

o : MIL OFF

DIAGNOSTIC TROUBLE CODE CHART

Warning lamp
DTC condition SEE
Trouble description
CODE PAGE
EBD ESC
C1101 Battery voltage high • •
C1102 Battery voltage low o/• •
C1200 Wheel speed sensor front-LH open/short o/• •
Wheel speed sensor front-LH range / performance /
C1201 o/• •
intermittent
C1202 Wheel speed sensor front-LH invalid/no signal o/• •
C1203 Wheel speed sensor front-RH open/short o/• •
Wheel speed sensor front-RH range / performance /
C1204 o/• •
intermittent
C1205 Wheel speed sensor front-RH invalid/no signal o/• •
C1206 Wheel speed sensor rear-LH open/short o/• •
Wheel speed sensor rear-LH range / performance /
C1207 o/• •
intermittent
C1208 Wheel speed sensor rear-LH invalid/no signal o/• •
C1209 Wheel speed sensor rear-RH open/short o/• •
Wheel speed sensor rear-RH range / performance /
C1210 o/• •
intermittent
C1211 Wheel speed sensor rear-RH invalid/no signal o/• •
C1213 Wheel speed frequency error o/• •
C1235 Primary pressure sensor - electrical o •
C1237 Pressure sensor - other o •
C1260 Steering angle sensor - signal o •
C1261 Steering angle sensor not calibrated o •
C1282 Yaw rate & lateral G sensor - electrical o •

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 2007 Hyundai Santa Fe GLS
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C1283 Yaw rate & lateral G sensor - signal o •

C1503 ESC switch error o •
C1513 Brake switch error o •
C1604 ECU hardware error • •
C1605 CAN hardware error o •
C1611 CAN time-out EMS o •
C1612 ECU (brake system) hardware error o •
C1616 CAN bus off ESC o •
C1623 CAN time-out SAS o •
C1625 CAN time-out ESC o •
C1626 Implausible Control o •
C1702 Variant Coding • •
C2112 Valve relay error o/• •
C2308 Front-LH Valve error (Inlet valve) • •
C2312 Front-LH Valve error (Outlet valve) • •
C2316 Front-RH Valve error (Inlet valve) • •
C2320 Front-RH Valve error (Outlet valve) • •
C2324 Rear-LH Valve error (Inlet valve) • •
C2328 Rear-LH Valve error (Outlet valve) • •
C2332 Rear-RH Valve error (Inlet valve) • •
C2336 Rear-RH Valve error (Outlet valve) • •
C2366 USV1 error • •
C2370 USV2 error • •
C2372 HSV1 error • •
C2374 HSV2 error • •
C2402 Motor electrical • •

DTC C1101 BATTERY VOLTAGE HIGH

COMPONENT LOCATION

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Fig. 36: Identifying Battery Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The ESC ECU (Electronic Control Unit) checks the battery voltage and alternator output voltage to determine,
as a safety issue, whether the ABS system can operate normally or not. The normal battery voltage range is
essential for controlling the ESC system as intended.

DTC DESCRIPTION

The ABS ECU monitors battery voltage and alternator output voltage by reading the value of voltage. When the
voltage is higher than the expected normal value, this code is set, and the ABS/EBD/ESC functions are
prohibited. If the voltage recovers, to within normal operating ranges, then the controller returns to normal
operation as well.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Battery Voltage Monitoring

Monitoring  Continuous (Over voltage faults will be always

Period stored.)
 When Vign is higher than 16.8 V.  Poor connection in power
 If the voltage is recovered to 16.7 V, the supply circuit (IGN+)
Enable
Conditions controller returns to normal state.  Inoperative Alternator
 The monitored supply voltage is filtered and
 Inoperative HECU
limited to a rise time of 4 volts per second.
 The ABS/EBD/ESC functions are inhibited.
 The proper function of valves and return
pump is not guaranteed.
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 The ABS/EBD/ESC warning lamps are activated.

Fail Safe  The supply voltage to wheel speed sensor is
interrupted.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC)

2. Engine "ON".
3. Monitor the "BATTERY VOLTAGE" parameter on the scantool.

Specification : Approx. Below. 16.7 V

Fig. 37: Scantool Display - Monitoring Battery Voltage

Courtesy of HYUNDAI MOTOR CO.

4. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by poor connection in power harness (IGN+) and/or HECU's connector
or was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness,
poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as
necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals condition.
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Faults can also be caused by interference from other electrical systems, and mechanical or chemical
damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Confirm the DTC status at another system to be able to confirm C1101 or DTC code related to over
voltage.
 If there isn't C1101 code at another system, Go to "POWER CIRCUIT INSPECTION"
procedure.
 If there is C1101 or DTC code related to over voltage at another system, Go to "ALTERNATOR
OUTPUT VOLTAGE INSPECTION" procedure.

ALTERNATOR OUTPUT VOLTAGE INSPECTION

1. Engine "ON".
2. Measure voltage between the battery terminal (+) and the battery terminal (-) with maintaining ENG
RPM 2,500RPM (idle), over 2 minutes.

Specification : Below. 16.7 V

Fig. 38: Measuring Voltage Between Battery Terminal (+) And Battery Terminal (-)
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "POWER CIRCUIT INSPECTION" procedure.

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NO

 Check that the tension of driving belt, ENG RPM, fuse, terminal of battery, all terminals of
alternator are in good condition and check for damaged harness and poor connection between
alternator and battery. If OK repair or replace alternator and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.

POWER SUPPLY CIRCUIT INSPECTION

1. Engine "ON".
2. Measure voltage between the battery terminal (+) and terminal "28" of the HECU harness connector.

Specification : Approx. below 0.2 V

Fig. 39: Measuring Voltage Between Battery Terminal (+) And Terminal 28 Of HECU Harness
Connector
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

 Check for damaged harness and poor connection between the battery terminal (+) and terminal "28"
of the HECU harness connector. Repair as necessary and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.

GROUND CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "4" of the HECU harness connector and chassis ground.
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Specification : Approx. below 1 ohms

Fig. 40: Measuring Resistance Between Terminal 4 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check for damaged harness and poor connection between terminal "4" of the HECU harness
connector and chassis ground. Repair as necessary and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

After a repair, it is essential to verify that the fault has been corrected.

1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode

2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information
4. Are any DTCs present?

YES

 Go to the applicable troubleshooting procedure.

NO

 System performing to specification at this time.

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DTC C1102 BATTERY VOLTAGE LOW

COMPONENT LOCATION

Refer to DTC C1101.

GENERAL DESCRIPTION

Refer to DTC C1101.

DTC DESCRIPTION

The ESC ECU monitors the battery voltage and alternator output voltage by reading the value of voltage. When
the voltage is lower than the expected normal value, this code is set. The ABS/ESC functions are prohibited and
the EBD function is allowed on LOW VOLTAGE CONDITION, the ABS/EBD/ESC functions are prohibited
on UNDER VOLTAGE CONDITION. If the voltage recovers, to within normal operating ranges, then the
controller returns to normal operations as well

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Battery Voltage Monitoring

 Continuous (Under voltage faults are only

Monitoring Period entered in the EEPROM if the vehicle
speed is > 6 km/h.)
 When Vign is lower than 9.3 V outside
ABS/ESC control.
 When Vign is lower than 9.2 V inside
ABS/ESC control.
Enable  If IGN voltage is recovered to 9.6
Conditions V, the system recovers to normal  Poor connection in
Case1 (Low state.
voltage) power supply circuit
 The monitored supply voltage is (IGN+)
filtered and limited to a rise time of  Inoperative HECU
4 volts per second.
 The ABS/ESC functions are inhibited.
Fail Safe  The ABS/ESC warning lamps are
activated.
 When Vign is lower than 7.7 V.
 If IGN voltage is recovered to 7.8V,
Enable
Conditions the system recovers to normal state.
 The monitored supply voltage is
Case2 filtered and limited to a rise time of
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(Under 4 volts per second.

voltage)  The ABS/EBD/ESC functions are
inhibited.
Fail Safe
 The ABS/EBD/ESC warning lamps are
activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC)

2. Engine "ON".
3. Monitor the "BATTERY VOLTAGE" parameter on the scantool.

Specification : Above. 9.6 V

Fig. 41: Monitoring Battery Voltage Parameter On Scantool

Courtesy of HYUNDAI MOTOR CO.

4. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by poor connection in power harness (IGN+) and/or HECU's connector
or was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness,
poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as
necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

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1. Many malfunctions in the electrical system are caused poor harness (es) and terminals condition. Faults
can also be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "ALTERNATOR OUTPUT VOLTAGE" procedure.

ALTERNATOR OUTPUT VOLTAGE INSPECTION

1. Engine "ON".
2. Measure voltage between the battery terminal (+) and the battery terminal (-) with maintaining ENG
RPM 2,500RPM (idle) over 2 minutes.

Specification : Above. 9.6 V

Fig. 42: Measuring Voltage Between Battery Terminal (+) And Battery Terminal (-)
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "POWER CIRCUIT INSPECTION" procedure.

NO

 Check that the tension of driving belt, ENG RPM, fuse, terminal of battery, all terminals of
alternator are in good condition and check for damaged harness and poor connection between
alternator and battery. If OK repair or replace alternator and then go to "VERIFICATION OF
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VEHICLE REPAIR" procedure.

POWER CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Ignition "ON" & Engine "OFF".
4. Measure voltage between terminal "28" of the HECU harness connector and chassis ground.

Specification : Approx. B+

Fig. 43: Measuring Voltage Between Terminal 28 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

 Check for damaged harness and poor connection between the battery terminal (+) and terminal "28"
of the HECU harness connector. Check for open or blown 10A ABS fuse referring to "CIRCUIT
DIAGRAM". Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.

GROUND CIRCUIT INSPECTION

Refer to DTC C1101.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

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DTC C1200 FL WHEEL SPEED SENSOR-OPEN/SHORT; DTC C1203 FR WHEEL SPEED SENSOR-
OPEN/SHORT; DTC C1206 RL WHEEL SPEED SENSOR-OPEN/SHORT; DTC C1209 RR WHEEL
SPEED SENSOR-OPEN/SHORT

COMPONENT LOCATION

Fig. 44: Identifying Wheel Speed Sensor Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The wheel speed sensor is the essential component the ESC ECU uses to calculate vehicle speed and to
determine whether wheel lock occurs. For example, rear wheel speed signal is used as a reference value, for
vehicle speed, in front wheel drive vehicles, and if a difference between front and rear wheel speed occurs, then
ABS control is performed. Wheel speed sensor is active hall-sensor type and good at temperature and noise
characteristic. Digital waveform is produced as tone wheel rotate according as hall sensor principle. Frequency
of duty waveform is changed in proportion to rotation of tone wheel and HECU calculate vehicle speed by this
frequency.

DTC DESCRIPTION

The ESC ECU monitors the wheel speed sensor circuit continuously. A direct current is supplied in the wheel-
speed sensor by a power source in the input amplifier of the control unit. If the WSS circuit is broken, in that
case a fault is detected by detecting abnormal input current. HECU cuts off the voltage supply to wheel sensor
channel which had a fault and prevent vehicle's damage due to super heated harness. If one or more defects has
detected, DTC code of defected wheel will be stored. Mutual short between sensors is detected by executing
self diagnosis successively at corresponding wheel when ignition ON. Warning lamp is turned OFF unless
additional faults are detected when the IG KEY is turned ON again.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Voltage monitoring

Monitoring
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Period  Once after power up.

 Shorts between WSS lines and shorts to UZ can be
Case1 Enable detected by switching single WSS channels in sequence.
Conditions If there is an error after end of test, a failure is
recognized.
Monitoring
Period  Continuous
Case2
Enable  When the sensor current levels are out of permissible
Conditions range (LOW : 7 mA, HIGH : 14 mA) for 200 ms.
 Sensor failure outside of the ABS control cycle
1. Only one wheel failure : Only the ABS/ESC
functions are inhibited. The ABS/ESC warning
lamps are activated and the EBD warning lamp is
not activated.
2. Two wheels failure : Only the ABS/ESC functions  Open or short
are inhibited. The ABS/ESC warning lamps are of Wheel speed
activated and the EBD warning lamp is not sensor circuit
activated.
 Inoperative
3. More than 3 wheels failure :System down. The Wheel speed
ABS/EBD/ESC functions are inhibited. The sensor
ABS/EBD/ESC warning lamps are activated.
 Inoperative
 Sensor failure inside the ABS control cycle HECU
Fail Safe 1. One front wheel failure : Inhibit the ABS/ESC
control. Pressure is increased on a front wheel,
Pressure is decreased on a rear wheel. After the
ABS/ESC control, the ABS/ESC functions are
inhibited. The ABS/ESC warning lamps are
activated and the EBD warning lamp is not
activated.
2. Two wheels failure : Inhibit the ABS/ESC control.
Pressure is increased on a front wheel, Pressure is
decreased on a rear wheel. After the ABS/ESC
control, the ABS/ESC functions are inhibited. The
ABS/ESC warning lamps are activated and the
EBD warning lamp is not activated.
3. More than 3 wheels failure: System down. The
ABS/EBD/ESC functions are inhibited. The
ABS/EBD/ESC warning lamps are activated.

MONITOR SCANTOOL DATA

1. Engine "ON".
2. Connect scantool to Data Link Connector (DLC).

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3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h (6 mph)
4. Monitor the "Wheel speed sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

Fig. 45: Monitoring Wheel Speed Sensor Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness and/or HECU's
connector or was repaired and HECU memory was not cleared. Thoroughly check connectors for
looseness, poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or
replace as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals. Faults can also
be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

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 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "POWER CIRCUIT INSPECTION" procedure.

POWER SUPPLY CIRCUIT INSPECTION

1. Ignition "ON".
2. Measure voltage between terminal (Front: 2, Rear: 1) of the wheel speed sensor harness connector and
chassis ground.

Specification : Approx. B+

Fig. 46: Measuring Voltage Between Terminal (Front: 2, Rear: 1) Of Wheel Speed Sensor Harness
Connector And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "SIGNAL CIRCUIT INSPECTION" procedure.

NO

 Check for open or short to GND in wheel speed sensor harness between terminal "Front: 2, Rear:
1" of the wheel speed sensor harness connector and terminal of the HECU harness connector.
Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
 If OK, Substitute with a known-good HECU and check for proper operation. If problem is
corrected, replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

DTC LOCATION REFERENCE

HECU harness connector (Power supply)
DTC LOCATION
ESC
DTC C1200 Front Left 26
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DTC C1203 Front Right 9

DTC C1206 Rear Left 6
DTC C1209 Rear Right 8

SIGNAL CIRCUIT INSPECTION

1. Lift the vehicle.

2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal of the HECU harness connector and chassis ground.

Specification : Approx. High : 1.05 V, Low : 0.525 V

Fig. 47: Measuring Waveform Between Terminal Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

DTC LOCATION REFERENCE

HECU harness connector (Signal)
DTC LOCATION
ESC
DTC C1200 Front Left 5
DTC C1203 Front Right 10
DTC C1206 Rear Left 27
DTC C1209 Rear Right 29

5. Is the measured waveform within specifications?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO
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 Check for open or short to GND in wheel speed sensor harness between terminal "Front: 1, Rear:
2" of the wheel speed sensor harness connector and terminal "FL : 5, FR : 10, RL : 27, RR : 29" of
the HECU harness connector. Repair as necessary and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.
 If OK, Go to "COMPONENT INSPECTION" procedure.

COMPONENT INSPECTION

1. Lift the vehicle.

2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "Front: 1, Rear :2" of the wheel speed sensor harness connector and
chassis ground.

Specification : Approx. High : 1.05 V, Low : 0.525 V

Fig. 48: Measuring Waveform Between Terminal (Front 1, Rear 2) Of Wheel Speed Sensor Harness
Connector And Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured waveform within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness (FL). Go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is
corrected, replace Wheel speed sensor and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

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Refer to DTC C1101.

DTC C1201 FL WHEEL SENSOR-RANGE/PERFORMANCE; DTC C1204 FR WHEEL SENSOR-

RANGE/PERFORMANCE; DTC C1207 RL WHEEL SENSOR-RANGE/PERFORMANCE; DTC
C1210 RR WHEEL SENSOR-RANGE/PERFORMANCE

COMPONENT LOCATION

Refer to DTC C1200.

GENERAL DESCRIPTION

Refer to DTC C1200.

DTC DESCRIPTION

The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when an abnormal signal
due to air gap problem or an abnormal speed change ratio are detected at the vehicle speed between 10 km/h to
80 km/h. Warning lamp is turned OFF unless additional faults are detected when the IG KEY is turned ON
again, and wheel speed is more than 12 Km/h.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal monitoring

Monitoring  The monitoring is active from 10 km/h to 80 km/h and

Period if no ABS-control is active at a front wheel and a rear
 Improper
wheel.
installation of
Case1  Every time, if a gap in the wheel speed sensor signal wheel speed
Enable occurs cyclically with one wheel rotation, a fault sensor
Conditions counter is increased by one. If the fault counter exceeds  Abnormal Rotor
its limit of 6, a wheel specific fault is stored in the and wheel
EEPROM. bearing
Monitoring  Inoperative
Period  Continuous
Wheel speed
If following interference and signal disturbance is sensor
Case2 detected, a failure is set after 10 s. non-plausible high
Enable  Inoperative
Conditions frequency received, non-plausible high wheel HECU
acceleration, non-plausible high wheel jerk. non-
plausible delta T and edges at low speed.
Fail Safe Refer to DTC C1200.

MONITOR SCANTOOL DATA

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1. Engine "ON".
2. Connect scantool to Data Link Connector (DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 12 km/h (7 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition

Fig. 49: Monitoring Wheel Speed Sensor Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by faulty HECU or external noise, was repaired and HECU memory
was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair as necessary and then go to "VERIFICATION
OF VEHICLE REPAIR" procedure.

NO

 Go to "COMPONENT INSPECTION" Procedure.

COMPONENT INSPECTION

1. Lift the vehicle.

2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "1" of the wheel speed sensor harness connector and chassis
ground.
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Specification : High : 1.05 V, Low : 0.525 V

Fig. 50: Measuring Waveform Between Terminal 1 Of Wheel Speed Sensor Harness Connector
And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured waveform within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness or external noise,
Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage and external noise, an interference between harnesses. Repair or replace as
necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
 If OK, Substitute with a known-good HECU and check for proper operation. If problem is
corrected, replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.
 Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.
 Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is
corrected, replace Wheel speed sensor and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

After a repair, it is essential to verify that the fault has been corrected.

1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode

2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in
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gear and maintain vehicle speed at or above 12 km/h (7 mph))

4. Are any DTCs present ?

YES

 Go to the applicable troubleshooting procedure.

NO

 System performing to specification at this time.

DTC C1202 FL WHEEL SPEED SENSOR-NO SIGNAL; DTC C1205 FR WHEEL SPEED SENSOR-
NO SIGNAL; DTC C1208 RL WHEEL SPEED SENSOR-NO SIGNAL; DTC C1211 RR WHEEL
SPEED SENSOR-NO SIGNAL

COMPONENT LOCATION

Refer to DTC C1200.

GENERAL DESCRIPTION

Refer to DTC C1200.

DTC DESCRIPTION

The ABS ECU monitors the wheel speed sensor signal continuously. This code is set when there is no wheel
speed signals within 10 ms to 20 ms at a vehicle speed > 43.2 km/h or a deviation between sensors exceed the
threshold or one or two wheels are at 2.75 km/h while the vehicle speed is at 12 km/h. Warning lamp is turned
OFF unless additional faults are detected when the IG KEY is turned ON again, and wheel speed is more than
12 Km/h.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal monitoring

Monitoring
 Continuous (only no under voltage is not detected)
Period
 Improper
 If one (or two) wheel are at 2.75 km/h and the other installation of
wheels are above 12 km/h for longer than 1s. wheel speed
Case1 sensor
 During driving, when the vehicle accelerates 18 km/h
after a particular wheel speed gets to 2.75 km/h and  Abnormal Rotor
stays there. At that time, If one (or two) wheel are at and wheel
2.75 km/h. bearing
Enable  This monitoring is performed at the following  Inoperative
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Conditions condition. Wheel speed

1. At the time the vehicle is accelerated to 12 km/h sensor
2. Once after energizing the system.  Inoperative
HECU
3. If the vehicle was stationary for approx. 2s.
 If one (or two) wheels are under 5 km/h and the two
fastest wheels have a velocity above 12 km/h for more
than 20 s.
 Continuous (If vehicle speed > 12 m/s) - but this
monitoring is disabled in the following event
Monitoring
1. Aquaplaning.
Period
2. Interference.
3. Supply voltage below 7.6 or above 18 Volts
Case  No wheel speed signals within 10 ms to 20 ms at a
2 vehicle speed > 12 m/s (43.2 km/h ).
 If the dynamic sensor monitor responses, the
Enable failures will be stored into failure memory
Conditions immediately after a waiting period of 60 ms.
 If occurs low voltage active sensors during the
waiting period of 60 ms no failure is stored in
the EEPROM.
 Main Monitoring

The main monitor needs additional information of the

Monitoring ESC-sensors and is active for a velocity > 20 km/h
Period and no under voltage is detected.

 Backup Monitoring
 Continuous

 Main Monitoring
1. If the maximum difference of wheel speeds
Case related to maximum wheel speed exceeds 5 %.
3
2. Detection filter time :
 The above conditions apply for 20 s for 1

Enable inoperative wheel speed sensor.

Conditions  The above conditions apply for 40 s for 2
inoperative wheel speed sensor.
 Backup Monitoring
1. If the deviation between the fastest and the
slowest wheel is below 6 % related to the fastest
wheel when the velocity is higher than 50 km/h.
2. When the velocity is below 50 km/h, if the
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deviation is an absolute value of 3 km/h.

3. Detection filter time : normally 20 s
 In case of a detected curve, the threshold
is increased with an additional value of 4
km/h.
Monitoring
Period  Continuous
Case
4 Enable  The pulse width of wheel speed sensor is below 2 ms
Conditions when vehicle speed is > 0 km/h and < 20 km/h.
Monitoring
Period  Continuous

 Vehicle < 100 Km/h

 Difference of two wheel speeds at FL to RL/RR
to RR > 1.7 m/s (6 km/h).
 Difference of two wheel speeds at FL to FR/RL
to RR > 1.7 m/s + 1.1 m/s.
 Difference of two wheel speeds at FL to RR/FR
to RL > 1.7 m/s + 2.2 m/s.

* If at least one wheel is at 1.4 m/s or lower, a

wheel speed difference of adjoining wheels up
to 3.3 m/s (or 3.3 m/s + 1.1 m/s) is permitted.

 Vehicle > 100 Km/h

 Difference of two wheel speeds at FL to RL/RR
Case
to RR > (6%xVref).
5 Enable
 Difference of two wheel speeds at FL to FR/RL
Conditions
to RR > (6%>Vref + 1.1 m/s).
 Difference of two wheel speeds at FL to RR/FR
to RL > (6%*Vref + 2.2 m/s).
 Detection filter time
 Response and detection filter time depend on
the amount of the speed difference and
additional conditions as shown below.
1. 18s - if fault threshold is exceeding > 1.7 m/s
resp.6%
2. 9s - if fault threshold is exceeding > 3.3 m/s
resp. 12%
3. If any wheel shows strong deceleration the fault
detection filter time is not shorter than 18s.
4. If spinning wheel is detected the fault detection
filter time is not shorter than 72s.
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 Fault allocation

If the exact fault location can be determined the wheel

specific fault will be set. This is the case if at the time
of detection the faulty wheel speed is at or below 1.4
m/s.

Otherwise a general wheel speed sensor generic fauly

is set.
Fail Safe Refer to DTC C1200.

MONITOR SCANTOOL DATA

1. Engine "ON".
2. Connect scantool to Data Link Connector (DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 50 km/h (31 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

Fig. 51: Monitoring Wheel Speed Sensor Parameter On Scantool Display (1 Of 2)

Courtesy of HYUNDAI MOTOR CO.

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Fig. 52: Monitoring Wheel Speed Sensor Parameter On Scantool Display (2 Of 2)

Courtesy of HYUNDAI MOTOR CO.

5. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness (FL), Thoroughly
check connectors for looseness, poor connection, bending, corrosion, contamination, deterioration,
or damage. Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.

NO

 Go to "COMPONENT INSPECTION" Procedure.

COMPONENT INSPECTION

Refer to DTC C1201.

VERIFICATION OF VEHICLE REPAIR

After a repair, it is essential to verify that the fault has been corrected.

1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode

2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information.(Start and drive vehicle in
gear and maintain vehicle speed at or above 50 km/h (31 mph))
4. Are any DTCs present ?

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YES

 Go to the applicable troubleshooting procedure.

NO

 System performing to specification at this time.

DTC C1213 WHEEL SPEED FREQUENCY ERROR

COMPONENT LOCATION

Refer to DTC C1200.

GENERAL DESCRIPTION

Refer to DTC C1200.

DTC DESCRIPTION

The ABS ECU monitors the wheel speed sensor signal continuously. This code is set, if the speed difference
with adjacent wheel is out of permissible range or the ABS control cycle is abnormal.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC
 Signal monitoring
Strategy
Monitoring
Case Period  Continuous

1 Enable
 When short cut between the wheel speed sensor
Conditions supply and the battery.
Fail Safe  Improper installation
 Wheel speed sensor signals are not reliable.
of wheel speed sensor
DTC
Strategy  Signal monitoring  Abnormal Rotor and
wheel bearing
Monitoring
 Continuous  Inoperative Wheel
Period
speed sensor
 The monitoring reports a failure if the ABS target
Case  Inoperative HECU
slip is exceeded for a time period > = 10 s at one
2
Enable or more wheels.
Conditions  If the driver brakes or the velocity is lower
than 50 km/h the detection time is enlarged
to 60 s.
Fail Safe
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 Reduced function of the ESC system

MONITOR SCANTOOL DATA

1. Engine "ON".
2. Connect scantool to Data Link Connector (DLC).
3. Start and drive vehicle in gear and maintain vehicle speed at or above 10 km/h (6 mph)
4. Monitor the "Wheel Speed Sensor" parameter on the Scantool.

Specification : Compare with another parameters related to wheel speed sensor. If it is the same as
another parameters, it is in normal condition.

Fig. 53: Monitoring Wheel Speed Sensor Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Is parameter displayed within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.

NO

 Go to "COMPONENT INSPECTION" Procedure.

COMPONENT INSPECTION

1. Lift the vehicle.

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2. Ignition "ON".
3. Turn the wheel with hand.
4. Measure waveform between terminal "1,2" of the wheel speed sensor harness connector and chassis
ground.

Specification :

High : 1.05 V, Low : 0.525 V

Compare waveforms of all wheel speed sensors.

If they have same waveform, it is in normal condition.

Fig. 54: Measuring Waveform Between Terminal 1,2 Of Wheel Speed Sensor Harness Connector
And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured waveform within specifications?

YES

 Fault is intermittent caused by poor connection in wheel speed sensor harness, Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair or replace as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.
 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check following point at wheel speed sensor which has abnormal waveform.
 Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.
 Check for damage of rotor teeth or wheel bearing. If NG, repair as necessary and then go to
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"VERIFICATION OF VEHICLE REPAIR" procedure.

 Substitute with a known-good Wheel speed sensor and check for proper operation. If problem is
corrected, replace Wheel speed sensor and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

After a repair, it is essential to verify that the fault has been corrected.

1. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode

2. Using a scantool, Clear DTC.
3. Operate the vehicle within DTC Detecting Condition in General Information. (Start and drive vehicle in
gear and maintain vehicle speed is approx. 50km/h or more (31mph or more))
4. Are any DTCs present ?

YES

 Go to the applicable troubleshooting procedure.

NO

 System performing to specification at this time.

DTC C1235 PRESSURE SENSOR (PRIMARY) - ELECTRICAL

COMPONENT LOCATION

Fig. 55: Identifying Pressure Sensor (Primary) Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The pressure sensor, installed in the HECU, sense the brake oil pressure to judge driver's brake intention when
ESC is operating. If pressure of master cylinder is applied to pressure sensor, the strain of the piezo element is
changed and then the resistance of bridge circuit is changed according to changed strain. Therefore this changed
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resistance changes output voltage of bridge circuit and output voltage changes linearly. The sensor output is a
analog signal in proportion to supply voltage, and the HECU recognizes a pressure value according to signal
ratio about supply voltage.

DTC DESCRIPTION

Each unfiltered input signal voltage is monitored to be in the range of 4.7 V < input signal voltage < 5.3 V. A
failure is detected if the output signal value is out of specified range for more than 100 ms or pressure sensor
self test form is out of specification during self test.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Voltage Monitoring

Monitoring  Open or
 Continuous short of
Case Period
1 pressure
Enable  A sensor supply failure is detected if Sensor Supply Voltage
sensor circuit
Conditions > 5.3 V or Sensor Supply Voltage < 4.7 V for t > = 60 ms.
 Inoperative
Monitoring
 Continuous pressure
Period
Case sensor
 A Fault is set if the DSO signal is voltage of DSO > 4.7 V or
2 Enable  Inoperative
voltage of DSO < 0.3V for a time t > = 100 ms. HECU
Conditions
 DSO : original pressure value.

Monitoring
 Continuous
Period
Case
 A Fault is set if the DSI signal is voltage of DSI > 4.7 V or
3 Enable
voltage of DSI < 0.3V for a time t > = 100 ms.
Conditions
 DSI : inverted pressure value.

Monitoring
 Continuous
Period
Case  A Fault is set if the voltage of DSO + DSI > 5.5V or voltage
4 Enable of DSO + DSI < 4.5V for a time t > = 100ms.
Conditions  DSO : original pressure value.

 DSI : inverted pressure value.

Monitoring
Period  Once during Power Up

 POS detects internal sensor malfunctions (sensor element,

Case amplification, etc.). The POS is triggered if no low voltage is
5 present and supply voltage is switched on. The test phase is
divided in two 60 ms parts. DSO signal must be < 0.5 V for
30 ms. In phase 2 DSO signal must be between 1.9V and
Enable 3.1V for also 30 ms then the POS Test is passed. The test
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Conditions phase is divided in two 60 ms parts. DSO and DSI signal

must be < 0.5 V for 30 ms. In phase 2 DSO and DSI signal
must be between 1.9 V and 3.1 V for also 30 ms then the
POS Test is passed. A fault is set if POS does not satisfy the
above conditions
 POS : Power on self test.

 No Pressure Signal available..

 Sensor failure outside the ABS control cycle
 Only the ABS/ESC functions are inhibited, allow the
EBD. The ABS/ESC warning lamps are activated and
Fail Safe the EBD warning lamp is not activated.
 Sensor failure inside the ABS control cycle
 Inhibit the ESC control, allow the EBD. The ESC
warning lamps are activated. After the control, the
ABS functions are inhibited. The ABS warning lamps
are activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "ON".
3. Press the brake pedal.
4. Monitor the "Pressure Sensor" parameter on the Scantool.

Specification : Approx. 60 bar ~ 150 bar (There are difference in displayed parameter according to
braking force)

Fig. 56: Monitoring Pressure Sensor Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.
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5. Whenever brake pedal is pushed down, is the pressure sensor's scantool data changed?

YES

 Fault is caused by having been repaired and HECU memory was not cleared. Clear the DTC and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "COMPONENT INSPECTION" procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared,
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1237 PRESSURE SENSOR - OTHER

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C1235.

DTC DESCRIPTION

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

With the driver torque demand and the lateral acceleration a driver braking demand is calculated. Unless the
pump motor is operating or there is a brake signal, The offset compensation is executed. A failure is detected if
offset value exceeded ±15 bar.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Voltage Monitoring

 After Pressure sensor initialization.

Monitoring  No under voltage
Period  No pumps are running.
 Open or short of
 No BLS-signal is set. pressure sensor
Enable  The pressure sensor-offset value must be in the range of circuit
Conditions ± 15 bar. A failure is detected if this range is exceeded.  Inoperative pressure
 Reduced function caused by inoperative pressure sensor sensor
signal.  Inoperative HECU
Fail Safe  Sensor failure outside the ABS control cycle
 Only the ABS/ESC functions are inhibited, allow
the EBD. The ABS/ESC warning lamps are
activated and the EBD

MONITOR SCANTOOL DATA

Refer to DTC C1235.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1260 STEERING ANGLE SENSOR - SIGNAL

COMPONENT LOCATION

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 57: Identifying Steering Angle Sensor And Clock Spring Location
Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The Steering angle sensor (SAS) is joined to the multi function switch and uses a CAN communication. The
SAS is used to determine turning direction and speed of the steering wheel. The HECU uses the signals from
the SAS when performing ESC-related calculations.

DTC DESCRIPTION

If the SAS signal is different from calculated value by yaw-rate sensor and wheel speed sensor, mechanically
impossible SAS signal is detected, there is a difference between SAS signal and driving condition of the vehicle
calculated from yaw-rate sensor and lateral G sensor, a failure is detected.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal Monitoring

Monitoring  Open or short

 Continuous of steering
Period
angle sensor
 During normal driving conditions the long time filtered circuit
driving direction is straight ahead. The long time filtered
Case SAS-value is equivalent to the offset. If the offset value  Inoperative
1 Enable exceeds a threshold of approximately 15 deg a SAS-fault is steering angle
Conditions determined. Failure detection time depends on the driving sensor
distance, vehicle speed and on the amount of failed SAS  Inoperative
signal. Within 30 km of symmetrical driving the calculated HECU
offset corresponds to the sensor offset.

 Continuous (If the following conditions are satisfied)

Monitoring
Period 1. After SAS-initialization and vehicle reference speed >
1.4 m/s (5 km/h)
2. No under voltage
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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

3. At least one SAS-message was sent in the current 20

ms-cycle.
 A SAS-gradient-failure is set, if
1. Signal gradient (steering angle velocity) from one 20
ms-cycle to another is higher than 40° or
2. Change of this gradient (steering angle acceleration)
Case is higher than 15°: | (LwlnK0K1 . LwlnK1K2)| > 15°
2 Enable and | (LwlnK0K1 + LwlnK1K2)| > 15°
Conditions  LwlnK0K1 : Difference of the SAS-signal
between the current 20 ms-cycle and the last 20
ms-cycle.
 LwlnK1K2 : Difference of the SAS-signal
between the last 20 ms-cycle and 20 ms-cycle
before.
Monitoring  Continuous (After initialization and no under voltage
Case Period detected)
3 Enable  If value is higher than 665° + 90° tolerance for more than
Conditions 300 ms a fault is determined.
Monitoring
Period  Continuous (during driving)

 Based on a vehicle model a reference SAS signal is build.

The difference between measured SAS signal and SAS
signal calculated from yaw-rate sensor signal is evaluated
for fault detection. Dependent on the driving conditions
failures in size of [10 + 60 m/s / vehicle reference speed]
deg at steering angle are recognized within 400 ~ 4800 ms
through three possible recognition paths:
Case 1. Curve Branch (lateral G > 2 m/s2 and left and right
4 Enable curve driving)
Conditions 2. Stability Branch (no large wheel speed differences
and stable acceleration)
3. Straight ahead Branch (lateral G < 0.5 m/s2 and yaw
rate < 2 deg/s). The recognition time depends on the
active branch (the time is shorter in a relation 1):2):3)-
4:2:1) and the value of the permissible time threshold
dependent on the deviation between the compared
signals (small deviation --> long detection time, large
deviation --> small detection time).
 Initialization once in every ignition cycle.
Monitoring  The monitoring is active until a reset by a change in the
Period SAS signal or until a right and left cornering can be
recognized.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

 If there is no change in the signal, but a right and left

cornering has been recognized, a fault is determined, (lateral
Case Enable G > 2 m/s2 in combination with a yaw rate > 6 7s in both
5 Conditions directions).
 At a minimum change of e.g. 5° in the signal, the
monitoring is reset.
Monitoring
Period  Continuous (during driving)
Case  The measured yaw rate and the yaw rates, calculated from
6 Enable the wheel speed sensor and SAS are compared. If the signals
Conditions don' t fit and forwards driving is detected, a fault is
determined.
Monitoring
Period  Continuous (during driving)

Case  Under normal conditions, two SAS messages are sent in one
7 Enable 20 ms cycle, which is shown by an increase of the message
Conditions counter by 2. If the message counter shows an increase
higher than 3 or lower than 1 in one 20 ms-cyle, a fault is
stored after 160 ms.
 Reduced controller function caused by inoperative SAS
Fail Safe signal. ABS/EBD control is available.
 The ESC warning lamp is activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "ON".
3. Turn the steering wheel to the left or right.
4. Monitor the "Steering Sensor" parameters on the Scantool.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 58: Monitoring Steering Sensor Parameters On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Whenever steering wheel is turned, is the steering sensor's scantool data changed?

YES

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "ON".
3. Turn the steering wheel to the full left or right position.
4. Monitor the "steering sensor" parameters on the Scantool.

Fig. 59: Monitoring Steering Sensor Parameters On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Is parameter displayed within specifications?

YES

 Go to "W/Harness Inspection" procedure.

NO

 Go to number 6. procedure.

NO

Go to "W/Harness Inspection" procedure.



6. Perform steering angle sensor calibration.

1. Ignition "ON" & Engine "OFF".

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

2. Line up the steering wheel in a straight.

3. Connect scantool to Data Link Connector (DLC).
4. Go in Anti-Rock brake system, (figure 4).
5. Perform steering angle sensor calibration, (figure 5).
6. Go to "COMPONENT INSPECTION" Procedure.

Fig. 60: Monitoring Steering Angle Sensor Calibration Parameters On Scantool Display
Courtesy of HYUNDAI MOTOR CO.

7. Whenever steering wheel is turned, is the steering sensor's scantool data changed HIGH/LOW?

YES

 Fault is intermittent caused by poor connection in steering sensor harness and/or HECU's connector
or was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness,
poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as
necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals. Faults can also
be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

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 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "COMPONENT INSPECTION" procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Operate the vehicle within DTC Detecting Condition in General Information, (turn right and left at least 1
time)
6. Select "Diagnostic Trouble Codes (DTCs)" mode again.
7. Are any DTCs present ?

YES

1. Substitute with a known-good steering angle sensor and check for proper operation. If problem is
corrected, replace sensor and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
2. Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared,
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1261 STEERING ANGLE SENSOR IS NOT CALIBRATED

COMPONENT LOCATION

Refer to DTC C1260.

GENERAL DESCRIPTION

Refer to DTC C1260.

DTC DESCRIPTION

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

The SAS used for ESC control needs zero point adjustment because the SAS measures an absolute angle. Zero
point adjustment is done by using the scantool device. If abnormal zero point adjustment is detected, a failure is
recognized.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal Monitoring

Monitoring
 During SAS zero point adjustment.
Period

Enable  The position of steering wheel is out of specified range  A fail of SAS zero
Conditions (straight position, a max. error ±5°) during SAS zero point adjustment
point adjustment.  Inoperative HECU
 Reduced controller function caused by inoperative SAS
Fail Safe signal. ABS/EBD control is available.
 The ESC warning lamp is activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "ON".
3. Monitor the "SAS CALIBRATED" parameters on the Scantool.

Specification : YES

Fig. 61: Monitoring SAS CALIBRATED Parameters On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

4. Is parameter displayed within specifications?

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YES

 Fault is caused by having been repaired and HECU memory was not cleared. Clear the DTC and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "COMPONENT INSPECTION" procedure.

COMPONENT INSPECTION

1. Line up wheels like (figure 1).

1. Perform the wheel alignment.
2. Line up the steering wheel in a straight.
3. Go ahead and Go back the vehicle 2-3 times without holding steering wheel.
2. Connect scantool to Data Link Connector (DLC).
3. Go in Anti-Lock brake system, (figure 2).
4. Perform steering angle sensor calibration, (figure 3).
5. Disconnect scantool.
6. Check the condition of SAS zero point adjustment by operating the vehicle (turn right and left at least 1
time)

Fig. 62: Monitoring Condition Of SAS Zero Point On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

7. Is zero point adjustment completed?

YES

 Go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
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replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1282 YAW RATE AND LATERAL G SENSOR - ELECTRICAL

COMPONENT LOCATION

Fig. 63: Identifying Yaw Rate And Lateral G Sensor Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The yaw-rate and G sensor assembly is installed on the lower floor. The yaw-rate sensor detects acceleration of
the vehicle around its vertical axis, while the G sensor detects lateral acceleration of the vehicle. When the
vehicle is not moving, the G sensor output is approximately 2.5 V.

DTC DESCRIPTION

The HECU monitors a signal voltage of either yaw-rate sensor or lateral G sensor to detect open or short to
battery or short to ground. A failure is detected if the lateral acceleration sensor or yaw rate sensor signal
voltage stays in the fault range longer than 100 ms or the lateral acceleration sensor or yaw rate sensor reference
voltage stays in the fault range longer than 200 ms, or the self test form is against specification during self test.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC
 Voltage Monitoring
Strategy
Monitoring
 Continuous
Period
 A line fault is detected if V[LG] < 0.3 V or V
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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

[LG] > 4.7 V for a time t > = 100ms.

 A line fault is detected if V[YAW] < 0.225 V OR
Case Enable V[YAW] > 4.774 V for a time t > = 100 ms.
1 Conditions  A line fault is detected if V[YAW REFERENCE]
< 2.1 V OR V[YAW REFERENCE] > 2.9 V for a
time t > = 200 ms.
DTC  Inoperative Yaw Rate
Strategy  Self test Monitoring & Lateral G sensor
Monitoring  Open or short of Yaw
Case Period  Once after power up and no low voltage. Rate & Lateral G
2 sensor
Enable  A line fault is detected if 0.2 V < V[LG] < 0.8 V
isn't continued for a time t > = 60 ms during POS  Inoperative HECU
Conditions
(POS : power on self test)
 Reduced controller function.
Fail Safe  Inhibit the ESC control and ABS/EBD control is
available.
 The ESC warning lamps are activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON".
3. Monitor the "Yaw rate sensor-lateral & Yaw rate sensor-yaw" parameter on the Scantool.

Specification : Lateral G sensor : ± 0 G, YAW rate Sensor : ± 0 deg/s

Fig. 64: Monitoring Yaw Rate Sensor-Lateral And Yaw Rate Sensor-Yaw Parameter On Scantool
Courtesy of HYUNDAI MOTOR CO.

4. Is parameter displayed within specifications?

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

YES

 Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor harness and/or
HECU's connector or was repaired and HECU memory was not cleared. Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination, deterioration, or
damage. Repair or replace as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1200.

POWER SUPPLY CIRCUIT INSPECTION

1. Ignition "ON" & Engine "OFF".

2. Measure voltage between terminal "1" of the Yaw Rate & Lateral G sensor harness connector and chassis
ground.

Specification : Approx. 5 V

Fig. 65: Measuring Voltage Between Terminal 1 Of Yaw Rate Lateral G Sensor Harness Connector
And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

 Check for open or short to GND in the Yaw Rate & Lateral G sensor harness between terminal "1"
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of the Yaw Rate & Lateral G sensor harness connector and battery +. Repair as necessary and then
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

GROUND CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect Yaw Rate & Lateral G sensor connector.
3. Measure resistance between terminal "4" of the Yaw Rate & Lateral G sensor harness connector and
chassis ground.

Specification : Approx. below 1ohms

Fig. 66: Measuring Resistance Between Terminal 4 Of Yaw Rate Lateral G Sensor Harness
Connector And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "SIGNAL CIRCUIT INSPECTION" procedure.

NO

 Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "4" of the
Yaw Rate & Lateral G sensor harness connector and terminal "15" of the HECU harness connector.
Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

SIGNAL CIRCUIT INSPECTION

1. Ignition "ON" & Engine "OFF".

2. Measure voltage between terminal "3,5,6" of the Yaw Rate & Lateral G sensor harness connector and
chassis ground.

Specification : Approx. 2.5 V (Voltage between terminal "5, 6" of the Yaw Rate & Lateral G sensor
harness connector and chassis ground.)

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 67: Measuring Voltage Between Terminal 3,5,6 Of Yaw Rate And Lateral G Sensor Harness
Connector And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "SELF TEST CIRCUIT INSPECTION" procedure.

NO

 Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "3, 5, 6" of
the Yaw Rate & Lateral G sensor harness connector and terminal "16, 18, 20" of the chassis
ground. Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.
 If OK, Go to "COMPONENT INSPECTION" procedure.

SELF TEST CIRCUIT INSPECTION

1. Measure waveform between terminal "2" of the Yaw Rate & Lateral G sensor harness connector and
chassis ground. < C260 >

Fig. 68: Measuring Waveform Between Terminal 2 Of Yaw Rate And Lateral G Sensor Harness
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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Connector And Chassis Ground

Courtesy of HYUNDAI MOTOR CO.

2. Is the measured waveform within specifications?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check for open or short to GND in the Yaw Rate & Lateral G sensor harness between terminal "2"
of the Yaw Rate & Lateral G sensor harness connector and terminal "37" of the chassis ground.
Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Engine "ON".
3. Does warning lamp remain On?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor circuit and/or
inoperative Yaw Rate & Lateral G sensor or was Repaired and HECU memory was not cleared. Go
to the applicable troubleshooting procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1283 YAW RATE AND LATERAL G SENSOR - SIGNAL

COMPONENT LOCATION

Refer to DTC C1282.

GENERAL DESCRIPTION

Refer to DTC C1282.

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DTC DESCRIPTION

A lateral acceleration reference signal is calculated from the wheel speeds, the steering angle and the yaw rate
signals to observe the lateral acceleration sensor signal. The difference between the reference signal and the
sensor signal is evaluated for failure detection. A yaw rate reference signal is calculated from the wheel speeds,
the steering angle and the lateral acceleration signals to observe the yaw rate sensor signal. The difference
between the reference signal and the sensor signal, and the gradient of the measured sensor signal is evaluated
for the failure detection. If the difference between estimated value and measured value of the sensor is larger
than predefined value for predefined time, the failure is recognized. Plauibility faults (signals received which
fall outside of the sensor characteristics) are also recognized.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal Monitoring

Monitoring
 Continuous (during stable driving)
Period
 By building a reference lateral G from the yaw-rate sensor,
wheel speed sensor and the SAS it is possible to test the
lateral G Signal on plausibility. If during stable vehicle  Inoperative
behavior an lateral G Failure larger than approximately 2.5 Yaw Rate &
m/s2 occurs, the ESC controller will disregard the lateral G Lateral G
sensor information so that a false ESC intervention is sensor
prevented. A fault is recognized after 1.6 s during model
 Open or short
Case validity.
of Yaw Rate
1 Enable  The measured and offset compensated yaw rate signal is & Lateral G
Conditions compared to the reference yaw rate signal calculated from sensor
yaw rate sensor, lateral G sensor, SAS and wheel speed
 Inoperative
sensor. If the measured yaw rate deviates more than 2.5 °/s
HECU
plus a dynamic threshold from the reference yaw rate
during model validity, a failure is recognized after 1.6 s.
The dynamic threshold is between 2.57s and more than 57s.
A typical value is 37s.
 During the possibility to observe the recognition time
depends on the amount of failure.
Monitoring
Period  Continuous (during driving)

 During normal driving conditions the long time filtered

Case driving direction is straight ahead. The long time filtered
2 Enable later G value is equivalent to the offset, if the offset value
Conditions exceeds a threshold of approximately 2.25 m/s2 an later G
fault is determined. Failure detection time depends on the
driving distance, vehicle speed and on the amount of failed
later G signal. Within 30 km of symmetrical driving the
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calculated offset corresponds to the sensor offset.

Monitoring
 Continuous (If no under voltage is detected)
Case Period
3 Enable  A fault is detected If the lateral G is higher than 15 m/s2 for
Conditions more than 800 ms.
Monitoring
 Continuous (during standstill)
Case Period
4 Enable  If the filtered value of [lateral G] is larger than 7 m/s2 for
Conditions more than 400 m/s2 fault is set.
Monitoring
Period  Continuous (dependent on driving situation)

 Standstill compensation :
 The offset corresponds to the measured and filtered
input value. Failure threshold 5.25 7s.
 Fast compensation (during driving if no standstill
compensation could be completed):
 The offset corresponds to the slightly filtered
Case deviation between measured yaw rate and the
5 Enable reference yaw rate calculated from SAS, lateral G
Conditions sensor and wheel speed sensor. Failure threshold is
7.5 7s.
 Long-term ("normal") compensation (during driving after
successful standstill or fast offset compensation):
 The offset corresponds to the strong filtered deviation
between measured yaw rate and the reference yaw
rate calculated from SAS, lateral G sensor and wheel
speed sensor. Failure threshold is 7.5 7s
Monitoring
Period  After every standstill.
Case  The measured yaw rate and the model yaw rates, calculated
6 Enable from the wheel speed sensor and SAS are compared. If the
Conditions signals doesn't fit and forward driving is recognized, a fault
is determined.
Monitoring  Continuous (after initialization of the YRS and if no under
Period voltage is detected)
Case  The yaw rate sensor BITE logic evaluates the BITE-signal
7 Enable by extraction of the measured yaw rate of the vehicle. The
Conditions allowed range for the BITE-signal is 25 7s ± 7 7s. If the
BITE-signal is not in the allowed range, a suspected failure
bit is set after 200 ms. A failure is set within 400 ms.
Monitoring
Period  After YRS-initialization, no under voltage

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 Depending on the driving conditions a signal gradient

Case Enable higher than 10 ~ 23 7s / 40 ms sets a suspected failure bit
8 Conditions after 280 ms, unless a single signal peak is recognized by a
peakfilter. A failure is set, if the good check is not settled
successfully after 10 s.
Monitoring  Continuous (except spinning, use of handbrake, unsteady
Period driving conditions or a detected under voltage)
 During standstill
 The allowed range of the yaw rate sensor signal is
±30 7s. Leaving this range for 5 s sets a fault. In case
Case of driving off after the failure was present for longer
9 than 500 ms during standstill, the fault is detected
Enable
immediately.
Conditions
 While driving
 The allowed range of the yaw rate sensor signal is
±94.75 °/s and a suspected failure bit is set, if the
signal is out of this range for 500 ms. A fault is set
after 1 s.
 Reduced controller function.
Fail Safe  Inhibit the ESC control and ABS/EBD control is available.
 The ESC warning lamps are activated.

MONITOR SCANTOOL DATA

Refer to DTC C1282.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1200.

SIGNAL CIRCUIT INSPECTION

1. Ignition "ON" & Engine "OFF".

2. Measure voltage between terminal "16,18,20" of the HECU harness connector and chassis ground.

Specification : Approx. 2.5 V ( Voltage between terminal "16, 20" of the HECU harness connector and
chassis ground.) If the voltage of the yaw & lateral G sensor is changed within normal voltage range
(approx. 0.1 ~ 4.9 V) during shaking it, it is in normal condition.

Specification : Approx. above 2.1 V and below 2.9 V ( Voltage between terminal "18" of the HECU
harness connector and chassis ground.)

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 69: Measuring Voltage Between Terminal 16,18,20 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check for open or short in the Yaw Rate & Lateral G sensor harness between terminal "3, 5, 6" of
the Yaw Rate & Lateral G sensor harness connector and terminal "16,18, 20" of the HECU harness
connector. Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.
 If OK, Go to "COMPONENT INSPECTION" procedure.

COMPONENT INSPECTION

Refer to DTC C1282.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1503 TCS/ESC SWITCH ERROR

COMPONENT LOCATION

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Fig. 70: Identifying TCS/ESC Switch Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

Driver can inhibit the ESC control by ESC switch. When switch signal send into HECU, ESC warning lamp go
ON and ESC control is stopped and if next switch signal is inputted again, ESC control is ready. This function
is used for sporty driving or vehicle inspection.

DTC DESCRIPTION

Trouble code is set when the condition that the level of ESC switch is high is continued for 60 sec. When the
ESC switch failure is set there is no signal in the warning lamp and HECU inhibit the ESC control and allow the
ABS/EBD control.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Short circuit monitoring

Monitoring
 Continuous
Period
Enable  Open or short ESC
 When the ESC switch is ON for 60 sec.
Conditions switch
 Inhibit the ESC control and allow the ABS/EBD
Fail Safe control.
 The ESC warning lamps are activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "OFF".
3. Press the ESC SWITCH.

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4. Monitor the "TCS/ESC SWITCH" parameter on the scantool.

Fig. 71: Monitoring TCS/ESC Switch Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Whenever the switch is pushed up/down, is the ESC off switch's scantool data changed ON/OFF?

YES

 Fault is intermittent caused by poor connection in ESC switch line or was repaired and HECU
memory was not cleared. Thoroughly check connectors for looseness, poor connection, bending,
corrosion, contamination, deterioration, or damage. Repair or replace as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals. Faults can also
be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

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 Go to "SIGNAL CIRCUIT INSPECTION" procedure.

SIGNAL CIRCUIT INSPECTION

1. Ignition "ON" & Engine "OFF" & ESC Switch "ON".

2. Measure voltage between terminal "31" of the HECU harness connector and chassis ground.

Specification : Approx B+

Fig. 72: Measuring Voltage Between Terminal 31 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Fault is intermittent caused by open or short in ESC switch line, inoperative ESC switch or was
repaired and HECU memory was not cleared. Go to the applicable troubleshooting procedure.

NO

 Check for damaged harness and poor connection in the power harness between the battery terminal
(+) and the terminal "31" of the HECU harness connector. Check for open or blown 10 A fuse
referring to "CIRCUIT DIAGRAM". Repair as necessary and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.
 If OK, Go to "COMPONENT INSPECTION" Procedure.

COMPONENT INSPECTION

1. Ignition "ON".
2. Disconnect ESC switch connector.
3. Press the ESC switch.
4. Measure resistance between terminal "3, 4" of the ESC switch component connector and terminal "4, 5"
of the ESC switch component connector.

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Specification :

Approx. below 1 ohms - ESC switch is depressed.

Approx. infinity ohms - ESC switch is not depressed

Fig. 73: Measuring Resistance Between Terminal 3, 4 Of ESC Switch Component Connector
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured resistance within specifications?

YES

 Fault is intermittent caused by inoperative ESC switch or was repaired and HECU memory was not
cleared. Go to the applicable troubleshooting procedure.

NO

 Substitute with a known-good ESC switch and check for proper operation. If problem is corrected,
replace ESC switch and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1513 BRAKE SWITCH ERROR

COMPONENT LOCATION

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Fig. 74: Identifying Brake Switch Location

Courtesy of HYUNDAI MOTOR CO.

GENERAL DESCRIPTION

The brake light switch indicates brake pedal status to the ABS control unit. The brake light switch which is dual
switch type send brake light signal to HECU. The switch is turned on when brake is depressed. The brake light
switch runs to battery voltage when brake depressed, but The brake light switch doesn't run to battery voltage
when brake is not depressed. On the contrary, The brake switch is normally close type which doesn't run to
battery voltage when brake depressed.

DTC DESCRIPTION

The brake light signal is a reference to judge driver's intention for braking and The HECU checks open or short
circuit of brake light switch for normal ABS/ESC control. If an error exists, warning lamp will be turned ON.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Detecting Condition Possible cause
 Voltage monitoring
Monitoring
Period  Continuous (only no under voltage is not detected)
Case  If the BLS-signals is high for 60 s, while the gas pedal is
1 Enable stepped, with vehicle speed > 10.8 km/h, offset  Open circuit
Conditions compensated pressure < 5 bar and no control is active, a in brake
fault is set. switch line
Monitoring  Inoperative
Period  Continuous (only normal voltage) brake light
switch
Case
2  For redundancy reasons an additional BLSp Vor-signal is
created by the pressure sensor signal. If the pressure sensor
is compensated, the threshold for generating the BLSp Vor
Enable signal is 10 bar. If the pressure sensor is not compensated,
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Conditions the threshold is increased by 15 bar. If this signal is set

without any hardware-BLS-signals being set for at least 1s.
 If the pressure signal is higher than 80bar and not both of
the hardware-BLS are set, a fault is stored after 1s.
 Inhibit the ESC control and ABS/EBD control is available.
 The ESC warning lamps are activated.

MONITOR SCANTOOL DATA

1. Connect scantool to Data Link Connector (DLC).

2. Ignition "ON" & Engine "ON"
3. Press the brake pedal.
4. Monitor the "BRAKE SWITCH" parameter on the scantool.

Specification : Lateral G sensor: ± 0 G, YAW rate Sensor: ± 0 deg/s

Fig. 75: Monitoring Brake Switch Parameter On Scantool Display

Courtesy of HYUNDAI MOTOR CO.

5. Whenever brake pedal is pushed down, is the brake switch's scantool data changed ON/OFF?

YES

 Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor harness and/or
HECU's connector or was repaired and HECU memory was not cleared. Thoroughly check
connectors for looseness, poor connection, bending, corrosion, contamination.

NO

 Go to "W/Harness Inspection" procedure.

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TERMINAL & CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals. Faults can also
be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "SIGNAL CIRCUIT INSPECTION (BRAKE PEDAL ISN'T DEPRESSED)" procedure.

SIGNAL CIRCUIT INSPECTION (BRAKE PEDAL ISN'T DEPRESSED)

1. Ignition "ON" & Engine "OFF".

2. Don't press the brake pedal.
3. Measure voltage between the terminal "30" of the HECU harness connector and chassis ground.

Specification : Brake Light Switch - Approx. 0V

Fig. 76: Measuring Voltage Between Terminal 30 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured voltage within specifications?

YES

 Go to "SIGNAL CIRCUIT INSPECTION (BRAKE PEDAL IS DEPRESSED)" procedure.

NO

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 Check for open or blown 20A STOP, 7.5A SNSR fuse referring to "CIRCUIT DIAGRAM".
Check for open or short to battery between the battery terminal (+) and the terminal "30" of the
HECU harness connector. Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.
 If OK, Go to "COMPONENT INSPECTION" Procedure.

SIGNAL CIRCUIT INSPECTION (BRAKE PEDAL IS DEPRESSED)

1. Ignition "ON" & Engine "OFF".

2. Press the brake pedal.
3. Measure voltage between the terminal "30" of the HECU harness connector and chassis ground.

Specification : Brake Light Switch - Approx. B+

Fig. 77: Measuring Voltage Between Terminal 30 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured voltage within specifications?

YES

 Fault is intermittent caused by open or short harness in brake light switch, faulty brake light switch
or was repaired and HECU memory was not cleared. Go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

NO

 Check for open or short to ground between the battery terminal (+) and the terminal "30" of the
HECU harness connector. Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.
 If OK, Go to "COMPONENT INSPECTION" Procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
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2. Disconnect brake switch connector.

3. Measure resistance between the terminal "1", "2" of the brake switch.

Resistance between the terminal "1,2" of the brake switch - infinity ohms (when the plunger is pushed
down), 0ohms (when the plunger isn't pushed down).

Fig. 78: Measuring Resistance Between Terminal 1,2 Of Brake Switch

Courtesy of HYUNDAI MOTOR CO.

4. Is the measured voltage within specifications?

YES

 Fault is intermittent caused by open or short harness in brake light switch, faulty brake light switch
or was repaired and HECU memory was not cleared. Go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

NO

 Substitute with a known-good brake lamp switch and check for proper operation. If problem is
corrected, replace brake light switch and then go to "VERIFICATION OF VEHICLE REPAIR"
procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1604 ECU HARDWARE ERROR

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The HECU is composed of an ECU (Electronic Control Unit) and a HCU ( Hydraulic Control Unit), HCU is
composed of a source of hydraulic pressure and modulator valve block. Increase and decrease of hydraulic
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pressure is operated by electronic motor, According to a detected signal by wheel speed sensor, The hydraulic
pressure which is needed for control is supplied by pump. The HCU' function which is composed of a
accumulator, return pump, solenoid valve is to increase, decrease or maintain the hydraulic pressure supplied to
a brake caliper by operating return pump according to HECU control signal while ABS control is active.

DTC DESCRIPTION

The HECU monitors the operation of the IC components such as memory, register, A/D converter and so on.
The ECU sets this code when the EEPROM data read by the master processor is different than prior data writed,
or when the master/slave processor detects abnormal operation in RAM, Status Register, Interrupt, Timer, A/D
converter or cycle time.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Internal monitoring

Monitoring
 Continuous
Case Period
1 Enable  If Internal control unit failures of the master/slave
Conditions processor or peripheral integrated circuits is detected.
Monitoring  Directly after ignition on, during reading of EEPROM-
Period values  Inoperative
 Failure is set if checksum not correct or PSW-EEPROM- HECU
Case
2 Handler reported unknown failure during EEPROM-
Enable
value reading.
Conditions
 If EEPROM reading sequence take longer then 3 s, a
failure is set.
 The ABS/EBD/ESC functions are inhibited.
Fail Safe
 The ABS/EBD/ESC warning lamps are activated.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1260.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1605 CAN HARDWARE ERROR

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COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The HECU send requirement data, such as Torque reduction, the number of fuel cut cylinders, and TCS control
requests, to the PCM (ECM & TCM) through CAN bus line. The PCM (ECM) performs fuel cut functions
according to requests from the HECU and retards ignition timing by torque reduction requests. The PCM
(TCM) maintains current gear positions during TCS control time, in order not to increase power which causes a
Kickdown shift.

DTC DESCRIPTION

The HECU checks the CAN control module for normal TCS control, and sets this code if CAN control module
malfunction is detected.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  CAN control module monitoring

Monitoring
 Immediate during start up
Period

Enable  Faults are detected immediately if the initialization software  Inoperative

Conditions can't have write access to the configuration registers of the HECU
CAN-controller module.
 Inhibit the ESC control and ABS/EBD control is available.
Fail Safe Meanwhile, stop checking the ESC switch failure under the
ESC control.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1260.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1611 CAN TIME-OUT EMS

COMPONENT LOCATION
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Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C1605.

DTC DESCRIPTION

The HECU checks the CAN communication lines for normal ESC control, and sets this code if a PCM (ECM)
message is not received within predefined time.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  CAN massage monitoring

Monitoring
 Continuous
Period  Inoperative
Enable  Faults are detected if PCM (ECM) message was not received PCM (ECM)
Conditions on time by the CAN controller of HECU.  Inoperative
 Inhibit the ESC control and ABS/EBD control is available. HECU
Fail Safe Meanwhile, stop checking the ESC switch failure under the
ESC control.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1260.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present?

YES

 Substitute with a known-good PCM (ECM) and check for proper operation. If problem is corrected,
replace PCM (ECM) and then go to "VERIFICATION OF VEHICLE REPAIR" procedure. If
NG, replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

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 Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared,
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1612 CAN TIME-OUT TCU

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C1605.

DTC DESCRIPTION

The HECU checks the CAN communication lines for normal TCS control, and sets this code if a PCM (TCM)
message is not received within predefined time.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  CAN control module monitoring

Monitoring
 Continuous
Period  Inoperative
Enable  Faults are detected if PCM (TCM) message was not received PCM (TCM)
Conditions on time by the CAN controller of HECU.  Inoperative
 Inhibit the ESC control and ABS/EBD control is available. HECU
Fail Safe Meanwhile, stop checking the ESC switch failure under the
ESC control.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present?

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YES

 Substitute with a known-good PCM (ECM) and check for proper operation. If problem is corrected,
replace PCM (ECM) and then go to "VERIFICATION OF VEHICLE REPAIR" procedure. If
NG, replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared,
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1260.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1616 CAN BUS OFF

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C1605.

DTC DESCRIPTION

The HECU checks the CAN communication lines for normal TCS control, and sets this code if re-initialization
is tried for 15 times in sequence without success.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Open or short monitoring

Monitoring
 Continuous
Period
 Open or short
Enable  A CAN BUS off fault is established if re-initialization is
circuit in CAN line
Conditions tried for 15 times in sequence without success.
 Inoperative HECU
 Inhibit the ESC control and ABS/EBD control is
Fail Safe available. Meanwhile, stop checking the ESC switch
failure under the ESC control.
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TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1503.

SIGNAL CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "14" of the HECU harness connector and terminal "35" of the
HECU harness connector.

Specification : Approx. 60ohms

Fig. 79: Measuring Resistance Between Terminal 14 Of HECU Harness Connector And Terminal
35 Of HECU Harness Connector
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Fault is intermittent caused by open or short in CAN signal harness or was repaired and HECU
memory was not cleared, go to "CAN BUS SHORT (TO GROUND) INSPECTION" procedure.

NO

 Check for open or short in CAN signal harness between terminal "14" of the HECU harness
connector and terminal "35" of the HECU harness connector. Repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

CAN BUS SHORT (TO GROUND) INSPECTION

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "14, 35" of the HECU harness connector and chassis ground.

Specification : Approx. infinity ohms

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Fig. 80: Measuring Resistance Between Terminal 14, 35 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "CAN BUS SHORT (TO BATTERY) INSPECTION" procedure.

NO

 Check for short to ground in CAN HIGH signal harness in case of abnormal resistance measured
between terminal "35" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
 Check for short to ground in CAN LOW signal harness in case of abnormal resistance measured
between terminal "14" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

CAN BUS SHORT (TO BATTERY) INSPECTION

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure voltage between terminal "14, 35" of the HECU harness connector and chassis ground.

Specification : Below. 0.2 V

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Fig. 81: Measuring Voltage Between Terminal 14, 35 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "CAN BUS SHORT (BETWEEN HIGH AND LOW) INSPECTION" procedure.

NO

 Check for short to battery in CAN HIGH signal harness in case of abnormal resistance measured
between terminal "14" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
 Check for short to battery in CAN LOW signal harness in case of abnormal resistance measured
between terminal "35" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

CAN BUS SHORT (BETWEEN HIGH AND LOW) INSPECTION

1. Ignition "OFF".
2. Disconnect ail the connector related to CAN such as HECU, PCU, EPS, ECS harness connector.
3. Measure resistance between terminal "14, 35" of the HECU harness.

Specification : Approx. 120 ohms

Fig. 82: Measuring Resistance Between Terminal 14, 35 Of HECU Harness Connector
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "COMPONENT INSPECTION" procedure.

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NO

 Check for short in CAN signal harness between terminal "14" of the HECU harness connector and
terminal "35" of the HECU harness connector. Repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by faulty HECU or was repaired and HECU memory was not cleared,
go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1623 CAN TIME-OUT STEERING ANGLE SENSOR

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The Steering angle sensor (SAS) is joined to the multi function switch and uses a CAN communication. The
SAS is used to determine turning direction and speed of the steering wheel. The HECU uses the signals from
the SAS when performing ESC-related calculations.

DTC DESCRIPTION

The HECU checks the CAN communication lines for normal ESC control, and sets this code if a sAS message
is not received within predefined time.

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DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  CAN massage monitoring

Monitoring
Period  Continuous  Inoperative SAS
Enable  Inoperative
 Faults are detected if SAS message was not received on time
Conditions HECU
by the CAN controller of HECU.
 Open circuit in
 Inhibit the ESC control and ABS/EBD control is available. SAS line
Fail Safe Meanwhile, stop checking the ESC switch failure under the
ESC control.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1200.

POWER SUPPLY CIRCUIT INSPECTION

1. Ignition "ON".
2. Measure voltage between terminal "2" of the steering angle sensor harness connector and chassis ground.

Specification : Approx. B+

Fig. 83: Measuring Voltage Between Terminal 2 Of Steering Angle Sensor Harness Connector And
Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

3. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

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 Check for damaged harness and poor connection between the battery terminal (+) and terminal "2"
of the steering angle sensor harness connector. Check for open or blown 10 A ABS fuse referring to
"CIRCUIT DIAGRAM". Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

GROUND CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect SAS connector.
3. Measure resistance between terminal "1" of the steering angle sensor harness connector and chassis
ground.

Specification : Approx. below 1 ohms

Fig. 84: Measuring Resistance Between Terminal 1 Of Steering Angle Sensor Harness Connector
And Chassis Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "CAN CIRCUIT INSPECTION" procedure.

NO

 Check for damaged harness and poor connection between terminal "15" of the HECU harness
connector and terminal "1" of the steering angle sensor harness connector. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

CAN CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect SAS connector.
3. Measure resistance between terminal "3, 4" of the steering angle sensor harness connector.

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Specification : Approx. 60 ohms

Fig. 85: Measuring Resistance Between Terminal 3, 4 Of Steering Angle Sensor Harness Connector
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Check for improper installation of wheel speed sensor. If NG, repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.
 If OK, Go to "COMPONENT INSPECTION" procedure.

NO

 Check for damaged harness and poor connection between terminal "3, 4" of the steering angle
sensor harness connector. Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

CAN BUS SHORT (TO GROUND) INSPECTION

1. Ignition "OFF".
2. Disconnect the HECU harness connector.
3. Measure resistance between terminal "3, 4" of the HECU harness connector and chassis ground.

Specification : Approx. infinity ohms

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Fig. 86: Measuring Resistance Between Terminal 3, 4 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "CAN BUS SHORT (BETWEEN HIGH AND LOW) INSPECTION" procedure.

NO

 Check for short to ground in CAN HIGH signal harness in case of abnormal resistance measured
between terminal "3" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
 Check for short to ground in CAN LOW signal harness in case of abnormal resistance measured
between terminal "4" of the HECU harness connector and chassis ground. Repair as necessary and
then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

CAN BUS SHORT (BETWEEN HIGH AND LOW) INSPECTION

1. Ignition "OFF".
2. Disconnect all the connector related to CAN such as HECU, PCU, EPS, ECS harness connector.
3. Measure resistance between terminal "3, 4" of the HECU harness.

Specification : Approx. 120 ohms

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Fig. 87: Measuring Resistance Between Terminal 3, 4 Of HECU Harness

Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Go to "COMPONENT INSPECTION" procedure.

NO

 Check for short in CAN signal harness between terminal "3" of the HECU harness connector and
terminal "4" of the HECU harness connector. Repair as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

COMPONENT INSPECTION

1. Ignition "OFF".
2. Ignition "ON".
3. Connect scantool and select "Diagnostic Trouble Codes (DTCs)" mode.
4. Using a scantool, Clear DTC.
5. Select "Diagnostic Trouble Codes (DTCs)" mode again.
6. Are any DTCs present ?

YES

1. Substitute with a known-good steering angle sensor and check for proper operation. If problem is
corrected, replace sensor and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.
2. Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Fault is intermittent caused by poor connection in steering angle sensor harness or faulty steering
angle sensor. Go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1625 CAN TIME-OUT ABS/TCS/ESC

COMPONENT LOCATION

Refer to DTC C1235.

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GENERAL DESCRIPTION

Refer to DTC C1605.

DTC DESCRIPTION

The HECU checks the CAN communication lines for normal ESC control, and sets this code if a CAN message
is not transmitted within predefined time.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  CAN massage monitoring

Monitoring
 Continuous
Period
Enable  Faults are detected if CAN message was not transmitted on  Inoperative
Conditions time by the CAN controller of HECU. HECU
 Inhibit the ESC control and ABS/EBD control is available.
Fail Safe Meanwhile, stop checking the ESC switch failure under the
ESC control.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1260.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1626 IMPLAUSIBLE CONTROL

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The pressure sensor, installed in the HECU, sense the brake oil pressure to judge driver's brake intention when
ESC is operating. If pressure of master cylinder is applied to pressure sensor, the strain of the piezo element is
changed and then the resistance of bridge circuit is changed according to changed strain. Therefore this changed
resistance changes output voltage of bridge circuit and output voltage changes linearly. The sensor output is a
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analog signal in proportion to supply voltage, and the HECU recognizes a pressure value according to signal
ratio about supply voltage.

DTC DESCRIPTION

Under normal conditions, the inlet valves of all four wheels are not closed during control for longer than 1.28s
or If the controller requests pressure-hold or pressure-decrease for longer than 1.28s, a fault is detected. The
ABS/ESC warning lamp is turned ON and the EBD warning lamp is turned OFF.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Signal monitoring

Monitoring
 Continuous
Case Period
1 Enable  If the controller requests pressure-hold or pressure-
Conditions decrease for longer than 1.28 s, a fault is stored.

Monitoring  Continuous (at vehicle reference speed > 6 m/s, no

detected under voltage and a fault is not already  Inoperative
Case Period HECU
detected)
2
Enable  The monitoring reports a failure if continuous ESC
Conditions control occurs for a time period > = 10 s.
 The ABS/ESC functions are inhibited, allow the EBD
Fail Safe control.
 The ABS/ESC warning lamps are activated.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C1702 VARIANT CODING ERROR

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

There is no hardware difference of the HECU according to the vehicle's specification, just software is changed
by the vehicle parameter used for ESC control. The HECU stores a classified variant code value according to
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the received data (a kind of engine, engine displacement, a kind of T/M). After then the HECU read a various
parameter according to the stored variant value in the memory to use for the ESC control.

DTC DESCRIPTION

The HECU checks the variant code after ignition. If a inappropriate variant code is detected or there is no
variant code, a fault is detected.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Internal monitoring

Monitoring
 Once during startup.
Period
 During initialization, there is no inputted valid
variant code.  Inoperative HECU
Enable  No variant code stored in EEPROM.  Replacement of PCM
Conditions  Received variant code is invalid. (ECM & TCM)
 There is a difference between preset variant code
and detected variant code.
 The ABS/EBD/ESC functions are inhibited.
Fail Safe
 The ABS/EBD/ESC warning lamps are activated.

MONITOR SCANTOOL DATA

VARIANT CODE

1. Check for improper installation of EMS/PCM (ECM & TCM)/ESC.

2. Connect scantool to Data Link Connector (DLC).
3. Ignition "ON".
4. Go in Anti-Lock brake system (figure 1).
5. Perform variant code.
6. Disconnect scantool.
7. Ignition "OFF" and then ignition "ON". Go to "COMPONENT INSPECTION" Procedure.

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Fig. 88: Scan Tool Display - Variant Coding

Courtesy of HYUNDAI MOTOR CO.

COMPONENT INSPECTION

Refer to DTC C1235.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C2112 VALVE RELAY ERROR

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The HECU supplies battery power to all solenoid valves with a valve relay which is controlled by the Electronic
Control UNIT (ECU). The valve relay and all solenoid valves are installed inside the HECU ( Hydraulic and
Electronic Control Unit

DTC DESCRIPTION

The HECU monitors voltage of the valve relay to check if the HECU can perform ABS control normally. When
the valve relay is switched to ON, the HECU will set this code if the solenoid drive voltage is below permissible
voltage ranges for a period of time. When the valve relay is switched to OFF, the HECU sets this code if the
solenoid drive voltage is over the permissible voltage range for a period of time.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

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Item Detecting Condition Possible cause

DTC Strategy  Voltage monitoring
Monitoring
Period  Once during startup.

Case  Watchdog and valve relay function is tested during

1 Enable startup. A failure is detected if the valve relay/Enable
Conditions remains in off position when it is turned on and vice
versa. Reason could be short to GND or UZ, interrupted
lines or a inoperative output stage etc.
Monitoring
 Continuous
Case Period  Open or short in
2 Enable  A Fault is detected if valve relay voltage < 0.8 * battery power supply
Conditions voltage for a time 500 ms. circuit (IGN+)
Monitoring  Inoperative
Period  Continuous HECU

Case  If valve relay malfunction and supply solenoid valve

3 Enable short to battery or supply solenoid valve and medium or
Conditions high ohmic short of valve relay (or a valve) to valve
relay voltage, solenoid valve voltage or GND are
detected.
 No valve actuation possible.
Fail Safe  The ABS/EBD/ESC functions are inhibited.
 The ABS/EBD/ESC warning lamps are activated.

MONITOR ACTUATION TEST

1. Connect scantool to Data Link Connector (DLC)

2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of all valves with Actuation Test.

Specification : It's normal if operating sound is heard.

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Fig. 89: Scan Tool Display - Actuation Test Mode

Courtesy of HYUNDAI MOTOR CO.

5. Do all valves operate normally?

YES

 Fault is intermittent caused by poor connection in power harness (ABS2) and/or HECU's connector
or was repaired and HECU memory was not cleared. Thoroughly check connectors for looseness,
poor connection, bending, corrosion, contamination, deterioration, or damage. Repair or replace as
necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1200.

POWER SUPPLY CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Ignition "ON".
4. Measure voltage between terminal "3" of the HECU harness connector and chassis ground.

Specification : Approx. B+

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Fig. 90: Measuring Voltage Between Terminal 3 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

 Check for damaged harness and open or short to GND between the battery terminal (+) and
terminal "3" of the HECU harness connector. Check for open or blown 40A ABS fuse referring to
"CIRCUIT DIAGRAM". Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

GROUND CIRCUIT INSPECTION

Refer to DTC C1101.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C2308 FL INLET VALVE MALFUNCTION; DTC C2316 FR INLET VALVE MALFUNCTION;
DTC C2324 RL INLET VALVE MALFUNCTION; DTC C2332 RR INLET VALVE MALFUNCTION

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The HECU is composed of an ECU (Electronic Control Unit) and an HCU ( Hydraulic Control Unit), so the
HECU hardware includes all solenoid valves inside the unit as well as the ECU. Solenoid valves are switched to
ON, OFF by HECU when the ABS is activated. Solenoid valves function is to increase, decrease or maintain
the hydraulic pressure supplied to a brake caliper.
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DTC DESCRIPTION

The HECU monitors the operation of the valves by checking the drive circuit of the solenoid valves, and then
sets this code when the unexpected drive voltage is detected. For example, the HECU sets the DTC if the
electrical feedback signal does not match the actuation signal for the corresponding valve.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Voltage monitoring

Monitoring
 Continuous
Period
Case  The electrical feedback signal does not match the actuation
1 Enable signal for the corresponding valve for more than 30 ms.
Conditions  Current controlled valves and under voltage
conditions :detection time is 80 ms
 Immediately after power on
Monitoring  every 20 s
Period  The Test is canceled if any concealed if any control,
valve actuation takes place or if the Vehicle is in
motion and the BLS is on.
Case
2  A Fault is found if UVR is not within 0.1 "battery voltage <
valve relay voltage < 0.8*battery voltage
Enable  A Fault is found if valve relay voltage > or = 0.2*battery
Conditions voltage.  Inoperative
 After that all valves are switched on sequential, valve HECU
relay voltage and valve feedback is measured.
Monitoring  The Valve and Pump motor Test is performed once after
Period ignition on if vehicle speed is > = 15 km/h.
Case  The valve and pump motor test detects electrical actuation
3 Enable malfunction of ABS valves. The test actuates all valves in
Conditions series (to detect short cuts or shunts between the valve lines).
Faults are detected if there is an error during the test.

 The drift test executes only once during an ignition Cycle.

The test is triggered if the following conditions are fulfilled :
10min after power up or end of control
Case Monitoring
4 Period 1. No BLS is applied
2. Brake pressure is < 10 bar
3. Vehicle speed > 15 km/h
4. Vehicle acceleration > 0.5 m/s2
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5. Supply voltage > 11 volts.

 The drift test is executed only once during an ignition Cycle.
Enable If it detects partly shorted valve coils, almost inoperative
Conditions coils or malfunction of the valve driver, a failure is
recognized.
 Valve cannot be actuated or valve is incorrectly actuated.
This may result in locked wheels or wheels without pressure.
Fail Safe
 ABS/EBD/ESC function is prohibited.
 ABS/EBD/ESC warning lamp is turned ON.

MONITOR ACTUATION TEST

1. Connect scantool to Data Link Connector (DLC)

2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

Fig. 91: Scan Tool Display - Actuation Test Mode

Courtesy of HYUNDAI MOTOR CO.

5. Does a inlet valve operate normally?

YES

 Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not
cleared. Go to the applicable troubleshooting procedure.

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NO

 Go to "W/Harness Inspection:" procedure. .

TERMINAL AND CONNECTOR INSPECTION

1. Many malfunctions in the electrical system are caused by poor harness (es) and terminals. Faults can also
be caused by interference from other electrical systems, and mechanical or chemical damage.
2. Thoroughly check connectors for looseness, poor connection, bending, corrosion, contamination,
deterioration, or damage.
3. Has a problem been found?

YES

 Repair as necessary and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C2312 FL OUTLET VALVE MALFUNCTION; DTC C2320 FR OUTLET VALVE

MALFUNCTION; DTC C2328 RL OUTLET VALVE MALFUNCTION; DTC C2336 RR OUTLET
VALVE MALFUNCTION

COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C2308.

DTC DESCRIPTION

Refer to DTC C2308.

DTC DETECTING CONDITION

Refer to DTC C2308.

MONITOR ACTUATION TEST

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1. Connect scantool to Data Link Connector (DLC)

2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of outlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

Fig. 92: Scan Tool Display - Actuation Test Mode

Courtesy of HYUNDAI MOTOR CO.

5. Does a inlet valve operate normally?

YES

 Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not
cleared. Go to the applicable troubleshooting procedure.

NO

 Go to "COMPONENT INSPECTION" procedure.

TERMINAL AND CONNECTOR INSPECTION

Refer to DTC C2308.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C2366 TCS VALVE PRIMARY (USV1) ERROR; DTC C2370 TCS VALVE SECONDARY (USV2)
ERROR; DTC C2372 ESC VALVE 1 (HSV1) ERROR; DTC C2374 ESC VALVE 2 (HSV2) ERROR
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COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

Refer to DTC C2308.

DTC DESCRIPTION

Refer to DTC C2308.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Voltage monitoring

Monitoring  Once after ignition on at standstill if the BLS is off

Period  At vehicle speed > or = 15 km/h if the BLS is on.
Case
1 Enable  The test actuates all valves in series to detect shorts or
Conditions shunts between the valve lines. Faults are detected if there
is an error during the test.
 The drift test executes only once during an ignition Cycle.
The test is triggered if the following conditions are
fulfilled : 10 min after power up or end of control
Monitoring 1. No BLS is applied
Period 2. Brake pressure is < 10 bar
 Inoperative
Case 3. Vehicle speed > 15 km/h HECU
2 4. Vehicle acceleration > 0.5 m/s2
5. Supply voltage > 11 volts.
 The drift test is executed only once during an ignition
Enable Cycle. If it detects partly shorted valve coils, almost
Conditions inoperative coils or malfunction of the valve driver, a
failure is recognized.
 Valve cannot be actuated or valve is incorrectly actuated.
This may result in locked wheels or wheels without
Fail Safe pressure.
 ABS/EBD/ESC function is prohibited.
 ABS/EBD/ESC warning lamp is turned ON.

MONITOR ACTUATION TEST

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1. Connect scantool to Data Link Connector (DLC)

2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

Fig. 93: Scan Tool Display - Actuation Test Mode

Courtesy of HYUNDAI MOTOR CO.

5. Does a inlet valve operate normally?

YES

 Fault is intermittent caused by inoperative valve or was repaired and HECU memory was not
cleared. Go to the applicable troubleshooting procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL AND CONNECTOR INSPECTION

Refer to DTC C2308.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

DTC C2402 MOTOR - ELECTRICAL

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COMPONENT LOCATION

Refer to DTC C1235.

GENERAL DESCRIPTION

The HECU supplies battery power to the electric motor with a motor relay which is controlled by the Electronic
Control Unit (ECU). The electric motor pump supplies hydraulic pressure to all wheel brake calipers by
operating the piston inside the pump.

DTC DESCRIPTION

The ABS ECU monitors the pump motor relay or fuse open, open or short in motor or motor lock and then sets
this code if a malfunction is detected.

DTC DETECTING CONDITION

DTC DETECTING CONDITION CHART

Item Detecting Condition Possible cause
DTC Strategy  Battery Voltage Monitoring

 Outside the ABS control cycle

Case1 (Motor Detect
Mode  Inside the ABS control cycle
Relay Open
or Motor  Diagnosis mode
Short to  If the motor relay is switched ON and motor
Enable
GND) voltage < (IGN voltage - 4V±0.5V) continued
Conditions
for 49msec, the failure is detected.
Detect  Outside the ABS control cycle
Mode  Diagnosis mode
 After motor relay is switched OFF, VMR is  Open or short of
Case2 (Motor
measured. If the time which VMR > 1 ±0.1 V is power supply
Lock) Enable less than evaluation time, recheck is performed circuit (ABS2)
Conditions again for a maximum of three times. When VMR  Inoperative
is not normal even on the third recheck, the HECU
controller recognizes it as failure.
 Initial Check
Detect  Outside the ABS control cycle
Case3 (Motor Mode
Open, Motor  Diagnosis mode
Short to  Failure mode
BATT)  After 1.8sec from the time that motor relay is
Enable
Conditions switched OFF, VMR > 4±0.5V continued for
1.8sec, the failure is detected.

 Initial Check
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 Outside the ABS control cycle

Detect  Inside the ABS control cycle
Mode  Diagnosis mode
Case4 (Motor
Fuse Open)  Failure mode

Enable  If the motor relay is switched OFF and VMRP

Conditions (Motor power supply voltage) < 4±0.5V
continued for 1sec, the failure is detected.
 The ABS/ESC functions are inhibited.
 The ABS/ESC warning lamps are activated and
the EBD warning lamp is not activated.
Fail Safe  Motor failure during the ABS control cycle
(Case 1, 4) : Inhibit the ABS/ESC control of
front wheels, allow the ABS/ESC control of rear
wheels, and ABS/ESC warning lamps are
switched on at the end of ABS control.

MONITOR ACTUATION TEST

1. Connect scantool to Data Link Connector (DLC)

2. Ignition "ON" & Engine "OFF".
3. Select the "Actuation Test" mode on the scantool.
4. Inspect operating status of inlet valve with Actuation Test.

Specification : It's normal if operating sound is heard.

Fig. 94: Scan Tool Display - Actuation Test Mode

Courtesy of HYUNDAI MOTOR CO.

5. Does a inlet valve operate normally?

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YES

 Fault is intermittent caused by poor connection in motor circuit or was repaired and HECU memory
was not cleared. Thoroughly check connectors for looseness, poor connection, bending, corrosion,
contamination, deterioration, or damage. Repair or replace as necessary and then go to
"VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Go to "W/Harness Inspection" procedure.

TERMINAL & CONNECTOR INSPECTION

Refer to DTC C1200.

POWER SUPPLY CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Ignition "ON".
4. Measure voltage between terminal "2" of the HECU harness connector and chassis ground.

Specification : Approx. B+

Fig. 95: Measuring Voltage Between Terminal 2 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

5. Is the measured voltage within specifications?

YES

 Go to "GROUND CIRCUIT INSPECTION" procedure.

NO

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 Check for damaged harness and open or short to GND between the battery terminal (+) and
terminal "2" of the HECU harness connector. Check for open or blown 40A ABS fuse referring to
"CIRCUIT DIAGRAM". Repair as necessary and then go to "VERIFICATION OF VEHICLE
REPAIR" procedure.

GROUND CIRCUIT INSPECTION

1. Ignition "OFF".
2. Disconnect HECU connector.
3. Measure resistance between terminal "1" of the HECU harness connector and chassis ground.

Specification : Approx. below 1 ohms

Fig. 96: Measuring Resistance Between Terminal 1 Of HECU Harness Connector And Chassis
Ground
Courtesy of HYUNDAI MOTOR CO.

4. Is the measured resistance within specifications?

YES

 Substitute with a known-good HECU and check for proper operation. If problem is corrected,
replace HECU and then go to "VERIFICATION OF VEHICLE REPAIR" procedure.

NO

 Check for damaged harness and poor connection between terminal "1" of the HECU harness
connector and chassis ground. Repair as necessary and then go to "VERIFICATION OF
VEHICLE REPAIR" procedure.

VERIFICATION OF VEHICLE REPAIR

Refer to DTC C1101.

ESC CONTROL MODULE

COMPONENTS
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Fig. 97: Identifying HCU Assembly And ESC Assembly With Torque Specification
Courtesy of HYUNDAI MOTOR CO.

REMOVAL

1. Remove the air cleaner assembly.

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Fig. 98: Identifying Air Cleaner Assembly With Screws

Courtesy of HYUNDAI MOTOR CO.

2. Remove the ECM (Engine Control Module).

3. Disconnect the brake tubes from the HECU.

Tightening torque Nm (kgf.m, lb-ft):

5.9 ~ 9.8 (0.6 ~ 1.0, 4.3 ~ 7.2)

Fig. 99: Identifying HECU Brake Tubes

Courtesy of HYUNDAI MOTOR CO.

4. Disconnect the HECU connector.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 100: Identifying HECU Connector

Courtesy of HYUNDAI MOTOR CO.

5. Remove the HECU by loosening the bracket mounting bolts.

Tightening torque Nm (kgf.m, lb-ft):

16.7 ~ 25.5 (1.7 ~ 2.6, 12.3 ~ 18.8)

CAUTION:  Never attempt to disassemble the HECU.

 The HECU must be protected during storage and transport, and
must not be subjected to excessive shock.

INSTALLATION

1. Installation is the reverse of removal.

2. After installation, bleed the brake system. (Refer to ABS bleeding)

FRONT WHEEL SPEED SENSOR

COMPONENTS

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 101: Identifying Front Wheel Speed Sensor Components

Courtesy of HYUNDAI MOTOR CO.

INSPECTION

1. Measure the output voltage between the terminal of the wheel speed sensor and the body ground.

CAUTION: In order to protect the wheel speed sensor, when measuring output
voltage, a 75ohms resistor must be used as shown.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 102: Measuring Output Voltage Between Terminal Of Wheel Speed Sensor And Body Ground
Courtesy of HYUNDAI MOTOR CO.

2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output
voltage as shown below.

Fig. 103: Output Voltage Graph

Courtesy of HYUNDAI MOTOR CO.

 V_low : 0.44 V ~ 0.63 V

 V_high : 0.885 V ~ 1.26 V
 Frequency range : 1 ~ 2,500 Hz

REAR WHEEL SPEED SENSOR

COMPONENTS

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 104: Identifying Rear Wheel Speed Sensor Components

Courtesy of HYUNDAI MOTOR CO.

INSPECTION

1. Measure the output voltage between the terminal of the wheel speed sensor and the body ground.

CAUTION: In order to protect the wheel speed sensor, when measuring output
voltage, a 75ohms resistor must be used as shown.

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 105: Measuring Output Voltage Between Terminal Of Wheel Speed Sensor And Body Ground
Courtesy of HYUNDAI MOTOR CO.

2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output
voltage as shown below.

Fig. 106: Output Voltage Graph

Courtesy of HYUNDAI MOTOR CO.

 V_low : 0.44 V ~ 0.63 V

 V_high : 0.885 V ~ 1.26 V
 Frequency range : 1 ~ 2,500 Hz

YAW-RATE SENSOR AND G-SENSOR

DESCRIPTION

1. The yaw-rate & lateral G sensor is applied for the ESC system.
2. The yaw-rate is the angular velocity, when a vehicle turns a corner, and the lateral G is the acceleration to
move a vehicle out of the way when cornering.
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3. The sensor is located in the crash pad lower floor on vehicle.

Fig. 107: Identifying Yaw-Rate Sensor And G-Sensor

Courtesy of HYUNDAI MOTOR CO.

SPECIFICATION

SPECIFICATION CHART
Description Specification Remark
Nominal supply voltage 11.5 ~ 12.5 V
Supply voltage range 8 ~ 16 V
Supply current Max. 120 mA Typ. 75 mA
Reference Voltage Output 2.464 ~ 2.536 V Typ. 2.5 V
Operating temperature range -40 ~ 85°C
+w direction, left turn Min. 100 7s Typ. 111 °/S
Measurement range
-w direction, right turn Min.100 7s Typ. 111 °/S
Yaw-late sensor Non-linearity -1 ~ 1 %
Offset (within life, within operating temperature) 3.75 °/S
Upper cut-off frequency Min. 45 Hz Typ. 60 Hz
+y direction, left turn Min.1.8 g Typ. 2 g
Measurement range
-y direction, right turn Min. -1.8 g Typ. 2 g
Lateral G sensor Non-linearity -4 ~ 4 %
Offset (within life, within operating temperature) -0.09 ~ 0.09 g
Upper cut-off frequency Min. 20 Hz Typ. 40 Hz

OUTPUT CHARACTERISTIC

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 2007 Hyundai Santa Fe GLS
2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 108: Output Characteristic Graph

Courtesy of HYUNDAI MOTOR CO.

CIRCUIT DIAGRAM (YAW-RATE & LATERAL G SENSOR)

Fig. 109: Yaw-Rate And Lateral G Sensor - Circuit Diagram

Courtesy of HYUNDAI MOTOR CO.

ESP/ESC SWITCH

DESCRIPTION

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

1. The ESC OFF switch is for the user to turn off the ESC system.
2. The ESC OFF lamp is on when ESC OFF switch is engaged.

INSPECTION

1. Remove the ESC OFF switch from the switch panel on the scratch pad of the driver's side.

Fig. 110: Identifying ESC OFF Switch Connector Terminals

Courtesy of HYUNDAI MOTOR CO.

2. Check the continuity between the switch terminals as the ESC OFF switch is engaged. (Refer to
CIRCUIT DIAGRAM)

STEERING WHEEL ANGLE SPEED SENSOR

DESCRIPTION

GENERAL DATA

The steering angle speed sensor detects the angle of the steering wheel in order to which direction a user
chooses.

MEASURING PRINCIPLE

A non contact, analog angle sensor carrying out absolute measuring by the use of the Anisotropic-Magneto-
Resistive effect (AMR). Measuring of the absolute angle by means of a toothed measuring gear with magnetic
properties in combination with different ratios. Corresponding AMR elements that change their electrical
resistance according to the magnetic field direction detect the angle position of the measuring gears. A micro-
controller decodes the measured voltage signals after A/D converting with the help of a mathematical function.
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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Output of the digital angle value and velocity via CAN-interface.

SPECIFICATION

SPECIFICATION CHART
Description Specification
Operating voltage 8~16 V
Operating temperature -40 ~ 85 °C
Current consumption Max. 150 mA
Steering angle velocity Max. ±2000 °/sec
Connection delay time t < 200 ms
Reverse voltage -13.5 V
Angle -780 ° ~ 779 °
Measuring range
Angular velocity 0 ~ 1016 °/s
Nonlinearity angle -2.5 ° ~ +2.5 °
Hysteresis angle 0° ~ 5°
Rotational friction torque measuring 10 °/s

CIRCUIT DIAGRAM (STEERING WHEEL SPEED ANGLE SENSOR)

Fig. 111: Steering Wheel Speed Angle Sensor - Circuit Diagram

Courtesy of HYUNDAI MOTOR CO.

STEERING ANGLE SENSOR (SAS) CALIBRATION

1. PURPOSE OF calibration
 On vehicle control, an ESC analyzes the intention of the driver.

 An ESC recognizes a steering angle which a driver rotates through the steering angle sensor.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

A steering angle sensor used in ESC adjusts 0° setting of steering wheel through K-line or CAN

communication.
2. STEERING ANGLE SENSOR (SAS) CALIBRATION METHOD

Fig. 112: Steering Angle Sensor (SAS) Calibration Method

Courtesy of HYUNDAI MOTOR CO.

1. Align the wheel to the straight line, (steering wheel < ± 5°) ex) Perform the wheel alignment first.

Align the wheel to the straight line.

A driver moves the vehicle to the front and back about 5 meters twice or three times.

2. Connect Scan tool to the vehicle.

3. Select Brake system.
4. Select Steering angle sensor (SAS) calibration.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 113: Scan Tool Display - Steering Angle Sensor (SAS) Calibration
Courtesy of HYUNDAI MOTOR CO.

5. Perform the Steering angle sensor (SAS) calibration.

Fig. 114: Scan Tool Display - Steering Angle Sensor (SAS) Calibration
Courtesy of HYUNDAI MOTOR CO.

6. Perform the procedure continuously.

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2007 BRAKES ESC (Electronic Stability Control) - Santa Fe

Fig. 115: Scan Tool Display - Steering Angle Sensor (SAS) Calibration
Courtesy of HYUNDAI MOTOR CO.

7. The procedure is finished. Push the "ESC" key.

Fig. 116: Scan Tool Display - Calibration Completion

Courtesy of HYUNDAI MOTOR CO.

8. Scanner OFF.
9. Remove the scanner from the vehicle.
10. Confirm the Steering angle sensor (SAS) calibration as driving the vehicle.(turn left once, turn right
once)

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