When Monitored and Set Condition

1. When Monitored: With the ignition on. The Controller Antilock Brake (CAB) monitors the status of the ESP Yaw Rate/Lateral Acceleration Sensor.
2. Set Condition: The Controller Antilock Brake (CAB) will set this DTC if the ESP Yaw Rate/Lateral Acceleration Sensor has an internal malfunction.

POSSIBLE CAUSES
ESP YAW RATE/LATERAL ACCELERATION SENSOR

For a complete Antilock Brake System (ABS) Circuit Diagram (Refer to BRAKES/ELECTRICAL - SCHEMATICS AND DIAGRAMS) .

1. 1)   VISUALLY INSPECT COMPONENTS FOR DAMAGE AND CORRECT INSTALLATION

   Visually inspect the Yaw Rate/Acceleration Sensor for damage and correct installation.

   Are there any visible Sensor concerns? 

   Yes 

   1. Correct the sensor concerns as necessary.
   2. Perform ABS VERIFICATION TEST .

   No 

   1. Go to step  2).
2. 2)   MONITOR THE CAB WITH THE DRB III®
   Fig 1: Connecting Scan Tool & Turning Ignition On

   Courtesy of DAIMLERCHRYSLER CORP.

   With the DRB III®, erase DTCs.

   Start the engine.

   With an assistant to drive, use the DRB III® to monitor the CAB module DTCs while performing road test.

   Is the Yaw Rate/Acceleration Sensor DTC set? 

   Yes 

   1. Replace the Yaw Rate/Acceleration Sensor. (Refer to BRAKES/ELECTRICAL/YAW RATE SENSOR - REMOVAL) .
   2. Perform ABS VERIFICATION TEST .

   No 

   1. Inspect and repair the related wiring harness for a possible intermittent condition.
   2. Perform ABS VERIFICATION TEST .