BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): C05001C,C05061C; Left Front Wheel Speed Sensor Circuit Voltage Out of Range; 2021 - 2024 MY RAV4 RAV4 HV [08/2020

Last Modified: 01-30-2024	6.11:8.1.0	Doc ID: RM100000001S1U9
Model Year Start: 2021	Model: RAV4	Prod Date Range: [08/2020 - ]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/ Vacuum Brake Booster): C05001C,C05061C; Left Front Wheel Speed Sensor Circuit Voltage Out of Range; 2021 - 2024 MY RAV4 RAV4 HV [08/2020 - ]

DTC

C05001C

Left Front Wheel Speed Sensor Circuit Voltage Out of Range

DTC

C05061C

Right Front Wheel Speed Sensor Circuit Voltage Out of Range

DESCRIPTION

Refer to DTC C050012

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DTC No.	Detection Item	DTC Detection Condition	Trouble Area
C05001C	Left Front Wheel Speed Sensor Circuit Voltage Out of Range	When the vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is less than 100 km/h (62 mph), one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more2 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is 100 km/h (62 mph) or more, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph).	Front speed sensor LH Front speed sensor rotor LH (front axle hub sub-assembly LH) Speed sensor installation Tire wear Tire pressure Tire and wheel size
C05061C	Right Front Wheel Speed Sensor Circuit Voltage Out of Range	When the vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is less than 100 km/h (62 mph), one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more2 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph). When the vehicle speed is 100 km/h (62 mph) or more, one of the following conditions is met when the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 for between 9 and 72 seconds or more (period changes depending on vehicle conditions): When the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors. The value of the wheel speed is continuously the slowest. When the wheel speed is less than 5 km/h (3 mph).	Front speed sensor RH Front speed sensor rotor RH (front axle hub sub-assembly RH) Speed sensor installation Tire wear Tire pressure Tire and wheel size

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

DTC Detection Conditions: C05001C

		Vehicle Condition
		Pattern 1	Pattern 2	Pattern 3	Pattern 4	Pattern 5	Pattern 6
Diagnosis Condition	The vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking.	○	○	○	-	-	-
Diagnosis Condition	The vehicle speed is less than 100 km/h (62 mph).	-	-	-	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	-	-	-	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the value of the wheel speed is continuously the slowest.	-	-	-	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the wheel speed is less than 5 km/h (3 mph).	-	-	-	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip	1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

HINT:

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

DTC Detection Conditions: C05001C

		Vehicle Condition
		Pattern 7	Pattern 8	Pattern 9
Diagnosis Condition	The vehicle speed is 100 km/h (62 mph) or more.	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

HINT:

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

DTC Detection Conditions: C05061C

		Vehicle Condition
		Pattern 1	Pattern 2	Pattern 3	Pattern 4	Pattern 5	Pattern 6
Diagnosis Condition	The vehicle is being driven in a straight line at a speed of 20 km/h (12 mph) or more and VSC/TRC (TRAC) has permission to control vehicle braking.	○	○	○	-	-	-
Diagnosis Condition	The vehicle speed is less than 100 km/h (62 mph).	-	-	-	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○	-	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	-	-	-	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the value of the wheel speed is continuously the slowest.	-	-	-	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6 km/h (4 mph) or more*2 and the wheel speed is less than 5 km/h (3 mph).	-	-	-	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip	1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

*2: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 16 km/h (10 mph) is permitted.

HINT:

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

DTC Detection Conditions: C05061C

		Vehicle Condition
		Pattern 7	Pattern 8	Pattern 9
Diagnosis Condition	The vehicle speed is 100 km/h (62 mph) or more.	○	○	○
Malfunction Status	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the difference between the highest wheel speed and the second highest wheel speed is 5 km/h (3 mph) or more, the wheel speed is high compared to other speed sensors.	○	-	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the value of the wheel speed is continuously the slowest.	-	○	-
	When the difference between the highest wheel speed and the lowest wheel speed is 6% or more*1 and the wheel speed is less than 5 km/h (3 mph).	-	-	○
Detection Time		Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).	Between 9 and 72 seconds or more (period changes depending on vehicle conditions).
Number of Trips		1 trip	1 trip	1 trip

*1: When more than 1 wheel has a wheel speed of less than 5 km/h (3 mph), a difference of 15% is permitted.

HINT:

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

CAUTION / NOTICE / HINT

NOTICE:

After replacing or removing and installing a speed sensor, perform Dealer Mode (Signal Check) inspection to confirm that the speed sensors are operating correctly.
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After replacing or removing and installing a speed sensor rotor, perform Dealer Mode (Signal Check) inspection to confirm that the speed sensors are operating correctly.
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DTC precaution

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Procedure to Clear Warning Lights (When not Clearing DTCs)

Procedure
Repair or replacement. Turn the ignition switch to ON. Drive the vehicle at 11 km/h (7 mph) or more for 1 second or more to clear the warning lights.

PROCEDURE

PRE-CHECK

(a) Check that all 4 tires are of correct size, are inflated to the correct pressure, and do not show excessive signs of wear.

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HINT:

If a tire is deformed or an incorrectly sized tire or wheel is installed, this DTC may be stored.

2.	CHECK FREEZE FRAME DATA (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

(d) Select a DTC to display the Freeze Frame Data.

(e) Read the freeze frame data of DTC C05001C or C05061C.

Chassis > Brake/EPB

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > DTC(C05001C) > Freeze Frame Data

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

Chassis > Brake/EPB > DTC(C05061C) > Freeze Frame Data

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

Result	Proceed to
The value of FL Wheel Speed is more than all other values.	A
The value of FR Wheel Speed is more than all other values.	A
The value of FL Wheel Speed is less than all other values.	B
The value of FR Wheel Speed is less than all other values.	B
The value of FL Wheel Speed is less than 5 km/h (3 mph).	C
The value of FR Wheel Speed is less than 5 km/h (3 mph).	C

GO TO STEP 4

GO TO STEP 7

3.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The difference between the value of FL Wheel Speed or FR Wheel Speed and all other values is less than 6%.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as wheelspin.

USE SIMULATION METHOD TO CHECK

REPLACE FRONT SPEED SENSOR

4.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display	Measurement Item	Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
FL Wheel Speed	Front wheel speed sensor LH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RR Wheel Speed	Rear wheel speed sensor RH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations
RL Wheel Speed	Rear wheel speed sensor LH reading	Min.: 0.0 km/h (0.0 mph) Max.: 6553.5 km/h (4072 mph)	Vehicle stopped: 0.0 km/h (0.0 mph)	When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
FR Wheel Speed
FL Wheel Speed
RR Wheel Speed
RL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The difference between the value of FL Wheel Speed or FR Wheel Speed and all other values is less than 6%.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as brake drag.

USE SIMULATION METHOD TO CHECK

5.	CHECK FRONT SPEED SENSOR INSTALLATION

(a) Check the front speed sensor installation.

OK:

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

The installation bolt is tightened properly.

*1	Front Speed Sensor
*a	Correct
*b	Incorrect
*c	No clearance

REINSTALL OR REPLACE FRONT SPEED SENSOR

6.	CHECK FRONT SPEED SENSOR ROTOR (CHECK FOR FOREIGN MATTER)

(a) Remove the component with the front speed sensor rotor.

Click here

(b) Check the front speed sensor rotor.

OK:

The front speed sensor rotor is free of scratches, oil, and foreign matter.

NOTICE:

If there is oil or foreign matter on the front speed sensor rotor, clean the front speed sensor rotor.
Do not use parts cleaner when cleaning the front speed sensor rotor.
If the front speed sensor rotor is damaged, replace the front axle hub sub-assembly with a new one.

Result	Proceed to
OK	A
NG (The front speed sensor rotor is damaged.)	B
NG (There is foreign matter on the front speed sensor rotor.)	C

REPLACE FRONT SPEED SENSOR

REPLACE FRONT AXLE HUB SUB-ASSEMBLY

CLEAN FRONT SPEED SENSOR ROTOR

7.	READ VALUE USING TECHSTREAM (WHEEL SPEED)

(a) Connect the Techstream to the DLC3.

(b) Turn the ignition switch to ON.

Chassis > Brake/EPB > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

FR Wheel Speed

Front wheel speed sensor RH reading

Min.: 0.0 km/h (0.0 mph)

Max.: 6553.5 km/h (4072 mph)

Vehicle stopped: 0.0 km/h (0.0 mph)

When driving at constant speed: No large fluctuations

FL Wheel Speed

Front wheel speed sensor LH reading

Min.: 0.0 km/h (0.0 mph)

Max.: 6553.5 km/h (4072 mph)

Vehicle stopped: 0.0 km/h (0.0 mph)

When driving at constant speed: No large fluctuations

Chassis > Brake/EPB > Data List

Tester Display
FR Wheel Speed
FL Wheel Speed

(d) Start the engine.

(e) Perform a road test under the same malfunction conditions recreated based on the Freeze Frame Data or customer problem analysis.

(f) Check the value of Wheel Speed.

OK:

The value of Wheel Speed is 5 km/h (3 mph) or more.

HINT:

If the result of the road test is within the specified range, it is possible that this DTC was stored due to a particular situation such as wheelspin, brake drag or wheel lockup.

When a DTC is stored during operation of ABS or TRC (TRAC), the system also stores vehicle control history that can be guessed the vehicle conditions.

Click here

USE SIMULATION METHOD TO CHECK

8.	CHECK FRONT SPEED SENSOR INSTALLATION

(a) Check the front speed sensor installation.

OK:

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

The installation bolt is tightened properly.

*1	Front Speed Sensor
*a	Correct
*b	Incorrect
*c	No clearance

REPLACE FRONT SPEED SENSOR

REINSTALL OR REPLACE FRONT SPEED SENSOR