BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): C124000; Yaw Rate Sensor / Multi-axis Acceleration Sensor Module "A"; 2022 - 2025 MY RAV4 RAV4 HV [12/2021

Last Modified: 05-08-2025	6.11:8.1.0	Doc ID: RM10000000214Q2
Model Year Start: 2022	Model: RAV4	Prod Date Range: [12/2021 - ]
Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): C124000; Yaw Rate Sensor / Multi-axis Acceleration Sensor Module "A"; 2022 - 2025 MY RAV4 RAV4 HV [12/2021 - ]

DTC

C124000

Yaw Rate Sensor / Multi-axis Acceleration Sensor Module "A"

DESCRIPTION

The yaw rate and acceleration sensor has a built-in airbag ECU assembly.

If the identification ID of the yaw rate and acceleration sensor (airbag ECU assembly) is different to that stored in the No. 2 skid control ECU (brake actuator assembly), this DTC is stored.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area	MIL	Note
C124000	Yaw Rate Sensor / Multi-axis Acceleration Sensor Module "A"	The yaw rate and acceleration sensor (airbag ECU assembly) identification information stored in the No. 2 skid control ECU (brake actuator assembly) is not consistent with the yaw rate and acceleration sensor (airbag ECU assembly) identification information sent via CAN communication continuously for 1 second or more.	Incorrect yaw rate and acceleration sensor (airbag ECU assembly) installed No. 2 skid control ECU (brake actuator assembly)	Comes on	SAE Code: C1240 Output ECU: No. 2 skid control ECU (brake actuator assembly)

MONITOR DESCRIPTION

When the yaw rate and acceleration sensor (airbag ECU assembly) type identification information stored by the No. 2 skid control ECU (brake actuator assembly) does not match that sent via CAN communication for a certain amount of time, the No. 2 skid control ECU (brake actuator assembly) judges that the identification signal is abnormal, the MIL is illuminated and a DTC is stored.

MONITOR STRATEGY

Related DTCs	C1240: Yaw rate and acceleration sensor incorrect
Required Sensors/Components(Main)	Yaw rate and acceleration sensor (airbag ECU assembly) No. 2 skid control ECU (brake actuator assembly)
Required Sensors/Components(Related)	No. 2 skid control ECU (brake actuator assembly)
Frequency of Operation	Continuous
Duration	1 second
MIL Operation	Immediately
Sequence of Operation	None

TYPICAL ENABLING CONDITIONS

Monitor runs whenever the following DTCs are not stored	C1241: Brake system voltage input out of range low U0074 (Case 1): Late communication with multi-axis acceleration sensor module U0125: Lost communication with multi-axis acceleration sensor module
Both of the following conditions are met	-
Communication status with yaw rate and acceleration sensor (airbag ECU assembly)	Valid
IG1	On

TYPICAL MALFUNCTION THRESHOLDS

Sensor ID

Not correct

COMPONENT OPERATING RANGE

All of the following conditions are met	-
Communication status with yaw rate and acceleration sensor (airbag ECU assembly)	Valid
IG1	On
Sensor ID	Correct

CONFIRMATION DRIVING PATTERN

NOTICE:

When performing the normal judgment procedure, make sure that the driver door is closed and is not opened at any time during the procedure.

HINT:

After repair has been completed, clear the DTC and then check that the vehicle has returned to normal by performing the following All Readiness check procedure.
When clearing the permanent DTCs, refer to the "CLEAR PERMANENT DTC" procedure.

Connect the GTS to the DLC3.
Turn the ignition switch to ON and turn the GTS on.
Clear the DTCs (even if no DTCs are stored, perform the clear DTC procedure).
Turn the ignition switch off.
Turn the ignition switch to ON (READY) and turn the GTS on.
Wait for 1 second or more. [*]
HINT:

[*]: Normal judgment procedure.

The normal judgment procedure is used to complete DTC judgment and also used when clearing permanent DTCs.
Enter the following menus: Chassis / Brake/EPB / Utility / All Readiness.
Check the DTC judgment result.
HINT:
- If the judgment result shows NORMAL, the system is normal.
- If the judgment result shows ABNORMAL, the system has a malfunction.
- If the judgment result shows INCOMPLETE, perform driving pattern again.

CAUTION / NOTICE / HINT

NOTICE:

After replacing or reinstalling the yaw rate and acceleration sensor (airbag ECU assembly), perform "Calibration" after performing "Reset Memory".
Click here
After replacing the No. 2 skid control ECU (brake actuator assembly), perform "Calibration" after performing "Reset Memory".
Click here

PROCEDURE

1.	CHECK PART NUMBER (AIRBAG ECU ASSEMBLY)

(a) Check that the part number of the installed yaw rate and acceleration sensor (airbag ECU assembly) is correct.

OK:

Yaw rate and acceleration sensor (airbag ECU assembly) installed in the vehicle has the correct part number.

REPLACE AIRBAG ECU ASSEMBLY

CLEAR DTC

(a) Clear the DTCs.

Chassis > Brake/EPB > Clear DTCs

(b) Turn the ignition switch off.

3.	RECONFIRM DTC

(a) Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.

(b) Check if the same DTC is output.

Chassis > Brake/EPB > Trouble Codes

Result	Proceed to
DTC C124000 is not output.	A
DTC C124000 is output.	B

USE SIMULATION METHOD TO CHECK

REPLACE BRAKE ACTUATOR ASSEMBLY