Brake System

Brake System
General Information
 2009 > G 2.7 DOHC >

SPECIAL TOOL
Tool(Number and Name) Illustration Use
09581-11000 Spreading the front disc brake piston
Piston expander
 2009 > G 2.7 DOHC >

TROUBLESHOOTING
PROBLEM SYMPTOMS TABLE
Symptom Suspect Area Reference
Lower pedal or 1. Brake system (Fluid leaks) repair
spongy pedal 2. Brake system (Air in) air·bleed
3. Piston seals (Worn or damaged) replace
adjust
4. Rear brake shoe clearance(Out of adjustment)
replace
5. Master cylinder (Inoperative)
Brake drag 1. Brake pedal freeplay (Minimum) adjust
2. Parking brake lever travel (Out of adjustment) adjust
3. Parking brake wire (Sticking) repair
adjust
4. Rear brake shoe clearance(Out of adjustment)
replace
5. Pad or lining (Cracked or distorted)
replace
6. Piston (Stuck) replace
7. Piston (Frozen) replace
8. Anchor or Return spring (Inoperative) repair
9. Booster system (Vacuum leaks) replace
10. Master cylinder (Inoperative)
Brake pull 1. Piston (Sticking) replace
2. Pad or lining (Oily) replace
3. Piston (Frozen) replace
replace
4. Disc (Scored)
replace
5. Pad or lining (Cracked or distorted)
Hard pedal but brake 1. Brake system (Fluid leaks) repair
inefficient 2. Brake system (Air in) air·bleed
3. Pad or lining (Worn) replace
replace
4. Pad or lining (Cracked or distorted)
adjust
5. Rear brake shoe clearance(Out of adjustment)
adjust
6. Pad or lining (Oily) replace
7. Pad or lining (Glazed) replace
8. Disc (Scored) repair
9. Booster system (Vacuum leaks)
Noise from brake 1. Pad or lining (Cracked or distorted) replace
2. Installation bolt (Loosen) adjust
3. Disc (Scored) replace
replace
4. Sliding pin (Worn)
clean
5. Pad or lining (Dirty)
replace
6. Pad or lining (Glazed) replace
7. Anchor or Return spring (Faulty) replace
8. Brake pad shim (Damage) replace
9. Shoe hold-down spring (Damage)

Brake fades 1. master cylinder replace

1. brake booster replace

2. pedal free play adjust
Brake vibration, 3. master cylinder replace
pulsation replace
4. caliper
replace
 replace
5. master cylinder cap seal
replace
6. damaged brake lines
Brake chatter is usually caused by loose or worn components, or
glazed or burnt linings. Rotors with hard spots can also contribute to
Brake Chatter brake chatter. Additional causes of chatter are out-of-tolerance rotors,
brake lining not securely attached to the shoes, loose wheel bearings
and contaminated brake lining.
 2009 > G 2.7 DOHC >

SPECIFICATIONS
Item Specification
Master cylinder
· Type Tandem type
· I.D. mm(in) 26.99/(1.063)
· Piston stroke mm(in) 30(1.18)
· Fluid level warning sensor Provided
Brake booster
· Type 8 + 9 in Tandem
· Boosting ratio 9.0 : 1
Front brake(Disc)
· Type Floating type with ventilated disc
· Disc O.D. 298 mm (11.73 in)
· Disc thickness 28 mm (1.10 in)
· Pad thickness 10.5 mm (0.41 in)
· Cylinder type Double piston
· Cylinder I.D. Ø48 mm (Ø1.89 in)
Rear brake(Disc)
· Type Floating type with solid disc
· Disc O.D. 302 mm (11.89 in)
· Disc thickness 12 mm (0.47 in)
· Pad thickness 10 mm (0.39 in)
· Cylinder type Single piston
· Cylinder I.D Ø42.9 mm (Ø1.69 in)
Parking brake
· Type DIH(Drum in hat)
· Actuation Foot brake
· Drum Ø190 mm (Ø7.48 in)

O.D=Outer Diameter
I.D=Inner Diameter

ABS : Anti-lock Brake System

ESP : Electronic Stability Program

SERVICE STANDARD
Items Standard value
Brake pedal height 192.4 mm(7.57 in)
Brake pedal full stroke 122 mm (4.8 in)
Adjust Brake pedal full stroke 60 mm (2.36 in)
Brake pedal free play 3 ~ 8 mm(0.11 ~ 0.31 in)
Stop lamp switch outer case to pedal stopper clearance 1.0 ~ 1.5 mm (0.04 ~ 0.06 in)
Booster push rod to master cylinder piston clearance 0.6 ~ 1.7(0.02 ~ 0.07 in)(at 500 mmHg)
Parking brake pedal stroke when pedal assembly is depressed with
145 mm (5.71 in) above
294N (30kgf, 66lb force)
Front disc brake pad thickness 10.5 mm (0.41 in)
Front disc thickness 28 mm (1.10 in)
Rear disc brake pad thickness 10 mm (0.39 in)
Rear disc brake disc thickness 12 mm (0.47 in)
Rear parking brake liner thickness 4 mm (0.16 in)
TIGHTENING TORQUE
Items Nm kgf.m lb-ft
Master cylinder to booster mounting nut 8 ~ 12 0.8 ~ 1.2 5.8 ~ 8.7
Brake booster mounting nut 13 ~ 16 1.3 ~ 1.6 9.4 ~ 11.6
Bleeder screw 7 ~ 13 0.7 ~ 1.3 5.06 ~ 9.4
Brake tube nut, brake hose 13 ~ 17 1.3 ~ 1.7 9.4 ~ 12.3
Caliper guide rod bolt (Front) 22 ~ 32 2.2 ~ 3.2 15.9 ~ 23.1
Caliper guide rod bolt (Rear) 22 ~ 32 2.2 ~ 3.2 15.9 ~ 23.1
Caliper assembly to knuckle (Front) 85 ~ 100 8.5 ~ 10 61.5 ~ 72.3
Caliper assembly to knuckle (Rear) 50 ~ 60 5.0 ~ 6.0 36.2 ~ 43.4
Brake hose to front caliper 25 ~ 30 2.5 ~ 3.0 18.1 ~ 21.7
Brake pedal assembly bracket mounting nut 10 ~ 15 1.0 ~ 1.5 7.2 ~ 10.8
Brake pedal mounting nut 13 ~ 16 1.3 ~ 1.6 9.4 ~ 11.6
Stop lamp switch mounting nut 8 ~ 10 0.8 ~ 1.0 5.8 ~ 7.23
Active wheel speed sensor mounting bolt on
7 ~ 10 0.7 ~ 1.0 5.1 ~ 7.2
the brake plate
HECU mounting bracket bolt 17 ~ 26 1.7 ~ 2.6 12.3 ~ 18.8
HECU mounting nut 6 ~ 10 0.6 ~ 1.0 4.3 ~ 7.2
Yaw rate & lateral acceleration sensor bolt 5~8 0.5 ~ 0.8 3.62 ~ 5.8

SPECIFICATION (ABS)
Part Item Standard value Remark
4 channel 4 sensor
System
(Solenoid)

HECU(Hydraulic and Motor, valve relay

Type ·ABS system:ABS &
Electronic Control intergrated type
EBD control
Unit) Operating voltage 8 V ~ 16 V(DC)
-40 ~ 120 °C
Operating temperature
(-40 ~ 248 °F)
·ABS W/L:ABS failure
Operating voltage 12 V ·Brake W/L:Parking,
Warning lamp brake oil, EBD failure
Current consumption 80 mA
Supply voltage DC 4.5 ~ 2.0 V
Operating temperature -40 ~ 150 °C
Output current low 5.9 ~ 8.4 mA Typ.7 mA
Output current High 11.8 ~ 16.8 mA Typ.14 mA
Acitve wheel speed
Frequency range 1 ~ 2500 HZ
sensor
Front 0.15 ~ 1.5 mm Typ.0.7 mm
Air gap
Rear 0.2 ~ 1.2 mm Typ.0.7 mm
Tone wheel 48 teeth
Output duty 30~70 %

SPECIFICATION(ESP)
 Part Item Standard Value Remark
4 channel 4
System
sensor(Solenoid)

HECU(Hydraulic and Motor, valve relay

Type ·Total control(ABS,
Electronic Control intergrated type
EBD, TCS, ESP)
Unit) Operating voltage 8 V ~ 16 V(DC)
-40 ~ 120 °C(-40 ~
Operating temperature
248 °F)
Operating voltage 12 V ·ESP Operating Lamp
Warning lamp
Current consumption 80 mA ·ESP Warning Lamp

Supply voltage DC 4.5 ~ 20V

Operating temperature -40 ~ 150 °C
Output current low 5.9 ~ 8.4 mA

Active wheel speed Output current high 11.8 ~ 16.8 mA

sensor Tone wheel 48 teeth
Frequency range 1 ~ 2500 HZ
Front 0.15 ~ 1.5 mm Typ. 0.7 mm
Airgap
Rear 0.2 ~ 1.2 mm Typ. 0.7 mm
Operating Voltage 8V ~ 16 V
Steering Wheel Angle
Current Consumption Max 150 mA
Sensor
Operating Angular velocity Max ± 780 °/sec
Operating Voltage 8 V ~ 16 V
Current Consumption Max. 120 mA
Output Voltage high 4.35 V~ 4.65 V Typ. 4.5 V
Yaw-rate & Lateral G
Output Voltage low 0.35 ~ 0.65 V Typ. 0.5 V
sensor
Yaw Sensor Operating Range ±100 ° /s
G Sensor Operating Range ±1.8 G
Reference voltage output 2.464 ~ 2.536 V Typ. 2.5 V

LUBRICANT
Item Recommended lubricant Quantity
Brake fluid DOT 3 or DOT 4 As required
Brake pedal bushing and brake pedal bolt Chassis grease As required
Parking brake shoe and backing plate contact surfaces Bearing grease As required
Caliper guide rod and boot RX-2 grease 0.8 ~ 1.3 g
Rear caliper guide rod and boot Rubber grease 0.8 ~ 1.3g
 Brake System

Brake System - Brake System

Brake System
 2009 > G 2.7 DOHC >

Operation and Leakage Check

Check all of the following items:
Component Procedure
Brake Booster (A) Check brake operation by applying the brakes during a test drive. If the brakes do not
work properly, check the brake booster. Replace the brake booster as an assembly if it
does not work properly or if there are signs of leakage.
Piston cup and pressure cup • Check brake operation by applying the brakes. Look for damage or signs of fluid
inspection (B) leakage. Replace the master cylinder as an assembly if the pedal does not work
properly or if there is damage or signs of fluid leakage.
• Check for a difference in brake pedal stroke between quick and slow brake
applications. Replace the master cylinder if there is a difference in pedal stroke.
Brake hoses (C) Look for damage or signs of fluid leakage. Replace the brake hose with a new one if it
is damaged or leaking.
Caliper piston seal and Check brake operation by applying the brakes.
piston boots (D) Look for damage or signs of fluid leakage. If the pedal does not work properly, the
brakes drag, or there is damage or signs of fluid leakage, disassemble and inspect the
brake caliper. Replace the boots and seals with new ones whenever the brake caliper
is disassembled.

BRAKE BOOSTER OPERATING TEST

For simple checking of the brake booster operation, carry out the following tests
1. Run the engine for one or two minutes, and then stop it. If the pedal depresses fully the first time but gradually
becomes higher when depressed succeeding times, the booster is operating properly, if the pedal height remains
unchanged, thebooster is inoperative.
2. With the engine stopped, step on the brake pedal several times.
Then step on the brake pedal and start the engine. If the pedal moves downward slightly, the booster is in good
condition. If there is no change, the booster is inoperative.

3. With the engine running, step on the brake pedal and then stop the engine.
Hold the pedal depressed for 30 seconds. If the pedal height does not change, the booster is in good condition, if
the pedal rises, the booster is inoperative.
If the above three tests are okay, the booster performance can be determined as good.
Even if one of the above three tests is not okay, check the check valve, vacuum hose and booster for malfunction.

VACUUM HOSE (CHECK VALVE)

INSPECTION
1. Disconnect the brake booster vacuum hose (check valve built in) (A) at the booster (B).
2. Start the engine and let it idle. There should be vacuum available. If no vacuum is available, the check valve is not
working properly. Replace the back booster vacuum hose and check valve and retest.

[LHD]
 [RHD]

BRAKE PEDAL BRAKE SWITCH ADJUSTMENT

PEDAL HEIGHT
1. Disconnect the brake switch connector, loosen the brake switch locknut (A), and brake off the brake switch (B) until
it is no longer touching the brake pedal.
2. Lift up the carpet. At the insulator cutout, measure the pedal height (C) from the middle of the left-side center of
the pedal pad (D).

Standard pedal height( with carpet removed): 192.4 mm(7.57 in.)

3. Loosen the pushrod locknut (A), and screw the pushrod in or out with pliers until the standard pedal height from the
floor is reached. After adjustment, tighten the locknut firmly. Do not adjust the pedal height with the pushrod
depressed.
BRAKE SWITCH CLEARANCE
Screw in the brake switch until its plunger is fully depressed (threded end (A) touching the pad (B) on the pedal arm)
then brake off the switch 3/4 turn to make 1.0 ~ 1.5mm(0.04 ~ 0.06in) of clearance between the brake switch
connector. Make sure that the brake lights go off when the pedal is released.

PEDAL FREE PLAY

1. With the engine off, inspect the pedal free play (A) on the pedal pad (B) by pushing the pedal by hand.

Free play: 3 ~ 8 mm (0.12 ~ 0.31 in.)

2. If the pedal free play is out of specification, adjust the brake switch (C). If the pedal free play is insufficient, it may
result in brake drag.

INSPECTION OF FRONT DISC BRAKE PAD

1. Check the brake pad thickness through the caliper body inspection hole.

Pad thickness
Standard value : 10.5 mm ( 0.41 in)
Service limit : 2 mm (0.0787 in)
 • If the pad thickness is out of specilfication, left and right pads must be replaced as a complete set.
• When the thickness difference between the left pad and right pad is large, check the sliding condition of
the piston and the guide rod.

INSPECTION OF REAR DISC BRAKE PAD

1. Check the rear disc brake pad thickness through the caliper body inspection hole.

Pad thickness
Standard value : 10.0 mm (0.39 in)
Service limit : 2.0 mm (0.0787 in)

• If the pad thickness is out of specification, left and right pads must be replaced as a complete set.
• When the thickness difference between the left pad and right pad is large, check the sliding condition of
the piston and the guide rod.
 Brake System

Brake System
Brake System - Brake Booster
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

Removal
1. Disconnect the vacuum hose (A) from the brake booster (B).

[LHD]

[RHD]

2. Remove the master cylinder (Refer to 'Master cylinder removal').

3. Remove the snap pin (A) and clevis pin (B).

4. Remove the four booster mounting nuts (C).

5. Remove the brake booster (A).
 INSTALLATION
1. Adjust push rod length of the booster, and then install the seal on the booster assembly.

Standard length (A):

LHD : 112 ± 0.5 mm (4.43 ± 0.019 in.)
RHD : 115 ± 0.5 mm (4.53 ± 0.019 in.)

[LHD]

[RHD]

2. Insert the booster and tighten the nuts (C).

3. Connect the booster push rod and brake pedal with a pin (B) and install a snap clevis pin (A) to the clevis pin (B).

Grease the pin before installing the snap pin.

Always use a new snap pin.

4. Install the master cylinder.

5. Connect the vacuum hose to the brake booster.
6. After filling the brake reservoir with brake fluid, bleed the system (Refer to 'Bleeding of brake system',).
7. Check for fluid leakage.
8. Check and adjust the brake pedal for proper operation.
 Brake System

Brake System
Brake System - Master Cylinder
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL

Do not spill brake fluid on the vehicle; it may damage the paint; if brake fluid does contact the paint, wash it off
immediately with water.

1. Remove air cleaner mounting bolts (B) from the air cleaner mounting bracket and air cleaner body (A).(LHD)

2. Remove the air cleaner assembly (A) by removing the air cleaner mounting bolt (B) from the bracket.(LHD)

3. Remove the surge tank.(Refer to EM Gr.)

(RHD-GSL 3.8)
4. Disconnect the brake fluid level switch connector (A), and remove the reservoir cap (B).

[LHD]

[RHD]
5. Remove the brake fluid from the master cylinder reservoir (C) with a syringe.
6. Disconnect the brake lines (A) from the master cylinder. To prevent spills, cover the hose joints with rags or shop
towels.
7. Remove the master cylinder mounting nuts (B) and washers.

[LHD]

[RHD]

8. Remove the master cylinder(C) from the brake booster. Be careful not to bend or damage the brake lines when
removing the master cylinder.

INSTALLATION
1. Install the master cylinder on the brake booster with 2 nuts.
2. Connect the two brake tubes and the brake fluid level sensor connector.

[LHD]
 [RHD]

3. Fill the brake reservoir with the brake fluid and bleed the brake system (Refer to 'Bleeding of brake system').

DISASSEMBLY
1. Remove the reservoir cap and drain the brake fluid into a suitable container.
2. Remove the fluid level sensor.
3. Remove the reservoir from the master cylinder, after remove mounting screw (A).

[LHD]

4. Remove the retainer ring (A) by using the snap ring pliers.
5. Remove the primary piston assembly (A).
6. Remove the pin (C) with the secondary piston (B) pushed completely using a screwdriver. Remove the secondary
piston assembly (B).

Do not disassemble the primary and secondary piston assembly.

INSPECTION
1. Check the master cylinder bore for rust or scratching.
2. Check the master cylinder for wear or damage. If necessary, clean or replace the cylinder.

• If the cylinder bore is damaged, replace the master cylinder assembly.

• Wash the contaminated parts in alcohol.

REASSEMBLY
1. Apply genuine brake fluid to the rubber parts of the cylinder kit and grommets.
2. Carefully insert the springs and pistons in the proper direction.
3. Press the piston with a screwdriver (A) and install the cylinder pin (B).
4. Install the retainer ring (A) after installing primary piston assembly.

5. Mount two grommets.

6. Install the reservoir on the cylinder.
 Brake System

Brake System
Brake System - Brake Line
2009 > G 2.7 DOHC >

COMPONENT
 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the brake hose clip (A).

2. Loosen the brake tube (A) nut holding the brake hose (B) nut with a wrench.

3. Remove the brake hose (B).

4. Remove the brake hose connecting bolt (A) from the caliper assembly.

INSTALLATION
1. Install the brake hose (A) connecting bolt (B) and washer (C).
2. Tighten the brake tube (A) nut holding the brake hose (B) nut with a wrench.

3. Install the brake hose clip (A).

4. After installation, breed the air in the brake system.

Be careful not to damage the brake hose by sharp edges or tools.

INSPECTION
• Check the brake tubes for cracks, crimps and corrosion.
• Check the brake hoses for cracks, damaged and oil leakage.
• Check the brake tube flare nuts for damage and oil leakage.

INSPECTION
• Check the brake tubes for cracks, crimps and corrosion.
• Check the brake hoses for cracks, damaged and oil leakage.
• Check the brake tube flare nuts for damage and oil leakage.
 Brake System

Brake System
Brake System - Brake Pedal
 2009 > G 2.7 DOHC >

COMPONENTS

COMPONENTS (ADJUSTABLE PEDAL)

 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the lower crash pad. (Refer to BD group 'Crash pad')
2. Remove the brake switch connector.
3. Remove the trans cable (A) in case of the adjustable brake pedal.

4. Remove the mounting bolt(A) of the peal position sensor connector in case of the adjustable brake pedal.

5. Remove the snap pin connecting the booster.

6. Remove the hinge shaft connecting the pedal tray.
7. Remove the brake pedal.

INSTALLATION
1. Installation is the reverse of removal.

Coat the inner surface of the bushings with the specified grease.

Specified grease : Lig-2

2. Before inserting the pin, apply the specified grease to the clevis pin.
3. Install the snap pin.
4. Adjust the brake pedal height and free play.

Before connecting trans cable, be sure that position of pivot pin (A) is initializen.

5. Install the stop lamp switch.

INSPECTION
1. Check the bushing for wear.
2. Check the brake pedal for bending or twisting.
3. Check the brake pedal return spring for damage.
4. Check the stop lamp switch.
(1) Connect a circuit tester to the connector of stop lamp switch, and check whether or not there is continuity when
the plunger of the stop lamp switch is pushed in and when it is released.
(2) The stop lamp switch is in good condition if there is no continuity when plunger(A) is pushed.
 Brake System

Brake System
Brake System - Front Disc Brake
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL

Frequent inhalation of brake pad dust, regardless of material composition, could be hazardous to your health.
• Avoid breathing dust particles.
• Never use on air hose or brush to clean brake assemblies.

1. Loosen the front wheel nuts slightly. Raise the front of the vehicle, and make sure it is securely supported. Remove
the front wheels.
2. Remove the guide rod bolt (B), After raise the caliper assembly (A), support it with a wire.

3. Remove pad shim (A), pad retainer (B) and pad assembly (C) in the caliper bracket.

INSTALLATION
1. Install the pad retainers (A) on the caliper bracket.

2. Install pad shims (A) and the brake pads (B) with the wear indicator on the inside.
 If you are reusing the pads, always reinstall the brake pads in their original positions to prevent a momentary
loss of braking efficiency.

3. Insert the piston in the cylinder using the special tool (09581-11000).

4. Push in the piston (A) so that the caliper will fit over the pads. Make sure that the piston boot is in position to
prevent damaging it when pivoting the caliper down.
5. Being careful not to damage the pin boot, install the guide rod bolt (B) with the specified torque.

6. If caliper assembly was removed, install the brake hose to the caliper.
7. Refill the master cylinder reservoir to the MAX line.
8. Bleed the brake system.(Refer to 'Bleeding of ABS system')
9. Depress the brake pedal several times to make sure the brakes work, then test-drive.

Engagement of the brake may require a greater pedal stroke immediately after the brake pads have been
replaced as a set. Several applications of the brake will restore the normal pedal stroke.
10. After installation, check for leaks at hose and line joints or connections, and retighten if necessary.

INSPECTION
FRONT BRAKE DISC THICKNESS CHECK
1. Remove all rust and contramination from the surface, and measure the disc thickness at 8 points, at least, of same
distance (5mm) front the brake disc outer circle.

Front brake disc thickness

Standard value : 28 mm(1.10 in)
Limit : 26 mm(1.02 in)

2. Thickness variation should not exceed 0.005mm (0.0002 in) (circumference) and 0.01 mm (0.0004 in)(radius) at
any directions.
3. If wear exceeds the limit, replace the discs and pad assemblies on the left and right sides of the vehicle.

FRONT BRAKE PAD CHECK

1. Check the pad wear. Measure the pad thickness and replace it, if it is less than the specified value.

Pad thickness
Standard value : 11 mm (0.43 in)
Service limit : 2 mm (0.0787 in)

2. Check that grease is applied, to sliding contact points and the pad and backing metal for damage.

FRONT BRAKE DISC RUN OUT CHECK

1. Place a dial gauge about 5mm (0.2 in.) from the outer circumference of the brake disc, and measure the run out of
the disc.
 Brake disc run out
Limit : 0.03 mm (0.0012 in.) or less (new one)

2. If the run out of the brake disc exceeds the limit specification, replace the disc, and then measure the run out
again.
3. If the run out does not exceed the limit specification, install the brake disc after turning it 180° and then check the
run out of the brake disc again.
4. If the run out cannot be corrected by changing the position of the brake disc, replace the brake disc.

Seizing of Front brake disc

1. Remove the brake disc from hub using an M8 screw(A) if the brake disc has been seized with the hub due to
corrosion or overheating.

Be careful not to use a hammer. The disc can be damaged if you remove the disc from the hub by
hammering.
 Brake System

Brake System
Brake System - Rear Disc Brake
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL
1. Raise the rear of the vehicle and make sure it is securely supported. Remove the rear wheel.
2. Remove the guide rod bolt(B), After raising the caliper assembly (A), support it with a wire.

3. Remove pad shim (A), pad retainer (B) and pad assembly (C) in the caliper bracket.

INSTALLATION
1. Install the pad retainer (A) to the caliper bracket.
2. Install the brake pads (B) and pad shims (A) and Install the pad with the wear indicator (C) on the inside.

If you reuse the pads, check for foreign material between the pad shim (A) and the back of the pads (B) and
reinstall the brake pads in their original position to prevent a momentary loss of braking efficiency.

3. Press in the piston with the special tool (09581-11000).

4. Grease the piston boot to prevent from twisting.
5. Install the guide rod.
6. Install the cylinder assembly (A) to the disc plate.

Be careful not to damage the piston boot.

7. Install the guide rod bolt (B).

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

22 ~ 32 (2.2 ~ 3.2, 15.9 ~ 23.1)

INSPECTION
REAR BRAKE DISC THICKNESS CHECK
1. Remove all rust and contamination from the disc surface, and then measure the disc thickness at 8 points, al least,
of the same distance (5 mm(0.12 in)) from the brake disc outer circle.

Rear brake disc thickness

Standard value : 12.0 mm (0.47 in)
Limit : 10.4 mm (0.41 in)

2. Thickness variation should not exceed 0.01 mm(0.0004 in) (circumference) and 0.01 mm(0.0004 in) (radius) at any
directions.
3. If wear exceeds the limit, replace the discs and pad assembly for left and right of the vehicle.
REAR BRAKE PAD CHECK
1. Check the pad wear. Measure the pad thickness and replace it, if it is less than the specified value.

Pad thickness
Standard value :
10.0 mm ( 0.39 in)
Service limit : 2.0 mm (0.08 in)

2. Check that grease is applied, and the pad and backing metal for damage.

REAR BRAKE DISC RUN OUT CHECK

1. Place a dial gauge about 5 mm (0.2 in) from the outer circumference of the brake disc, and measure the run out of
the disc.

Brake disc run out

Limit : 0.05 mm (0.002 in) or less (new one)

2. If the run out of the brake disc exceeds the limit specification, replace the disc, and then measure the run out
again.
3. If the run out does not exceed the limit specification, install the brake disc after turning it 180° and then check the
run out of the brake disc again.
4. If the run out cannot be corrected by changing the position of the brake disc, replace the brake disc.

Seizing of Rear brake disc

1. Remove the brake disc from hub using an M8 screw (A) if the brake disc has been seized with the hub due to
corrosion or overheating.

Be careful not to use a hammer. The disc can be damaged if you remove the disc from the hub by
hammering.
 Brake System

Parking Brake System - Parking Brake

Switch

Brake System
 2009 > G 2.7 DOHC >

INSPECTION
1. Remove the floor console and the connector (B) from the switch (A).

[LHD]

[RHD]

2. Inspect the continuity between (-) terminal and the ground.

A. When the brake lever is pulled, there should be the continuity between them.
B. When the brake lever is released, there should be no continuity between them.
 Brake System

Parking Brake System - Parking Brake

Assembly

Brake System
2009 > G 2.7 DOHC >

COMPONENTS(1)

COMPONENTS(2)
COMPONENTS(3)
 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the lower panel (A), after loosening the parking lever. (Refer to BD group 'Crash pad')

2. Remove the parking release nose (B).

3. Remove the parking brake switch (A).

[LHD]

[RHD]

4. Remove the parking brake cable (A).

5. Remove the mounting nuts (A) and bolt (B) of the parking brake bracket.

[LHD]

[RHD]

6. Remove the release cable assembly (C).

7. Remove the damper assembly (A).

[LHD]
 [RHD]

8. Remove the parking brake lamp switch (A).

[LHD]

9. Raise the rear of the vehicle and make sure it is securely supported.
10. Remove the mounting bolt (A) of the parking brake wire bracket from the body.
11. Remove the four mounting bolts (A) of the parking brake wire bracket from the rear cross member.

12. Remove the rear wheels and tires from the rear hubs.
13. Remove the hub cap (A) and the disc (B).

14. Remove the hub nut (A) and washer (B) and remove the rear hub (C).

15. Remove the shoe hold down pin and spring (A) by pressing and rotating the spring.
16. Remove the adjuster assembly (B) and the lower return spring (C).
17. Remove the strut (B) and the upper return spring (A).

18. Remove the retaining ring (B) of the parking brake wire (A) from back of the backing plate.

19. Disconnect the parking brake wire from the brake shoe.

INSTALLATION
1. Install the backing plate (A).
2. Connect the parking brake wire (B) to the brake shoe (A).

3. Install the shoe hold down pin and spring (A) to hold the brake shoe (B).

4. Install the adjuster assembly (B) and the lower return spring (C).
5. Install the upper return spring (A) and strut (B).

6. Grease where is necessary.

7. Install the rear hubs.
8. Install the hub nut (A). After installation, lock the nut to the spindle as shown in the illustration.
9. Install the hub cap (A) and the disc (B).

10. Install the rear wheels and tires from the rear hubs.
11. Tighten the parking brake adjusting nut.
12. Install the parking brake wire and the pedal assembly.

ADJUSTMENT
ADJUSTMENT OF REAR BRAKE SHOE CLEARANCE
1. Raise the vehicle, and make sure it is securely supported.
2. Remove the rear wheel and tire from the rear hub.
3. After removing the plug from the disc, rotate the toothed wheel by a screw driver until the disc is not moving, and
then return it by 5 notches.

ADJUSTMENT PRECEDURE OF DIH FOOT PARKING BRAKE

1. Adjust the adjusting nut (A) so that parking pedal stoke is to be 88 ~ 98 mm(3.46 ~ 3.86 in) when operating effort
is 200 N(20 kgf, 44 lb) after full stroke operation of parking pedal over 3 times for setting parking wire.
 is 200 N(20 kgf, 44 lb) after full stroke operation of parking pedal over 3 times for setting parking wire.

1. The parking brake adjustment must be carried out after adjusting the rear shoe.
2. After adjusting parking brake, notice following matter;
1) Must be free from clearance between adjusting nut and pin.
2) Check securely that the bake is not dragging

BED-IN PROCEDURE FOR DIH FOOT PARKING BRAKE

 Brake System

Brake System
ABS(Anti-Lock Brake System)
2009 > G 2.7 DOHC >

ABS CIRCUIT DIAGRAM(1)

ABS CIRCUIT DIAGRAM(2)

 ECU CONNECTOR INPUT/OUTPUT(ABS)

Current [Link] [Link]

Wire No. Designation wire resistance resistance R_P
max min R_L (m!) (k!)
1 Ground for recirculation pump 20~39 A 10 A 10
Ground for solenoid valves and
4 5~15 A 2.5 A 10
ECU
2 Voltage supply for pump motor 20~39 A 10 A 10 200
Voltage supply for solenoid
3 5~15 A 2A 10 200
valves
18 Voltage for hybrid ECU 1A 500 mA 60 200
 signal wheel speed sensor FL, 200 to ground
5,10,17,19 6 mA 16 mA 250
FR, RL,RR 1.5M to bat
Voltage supply for the active
200 to ground
16,9,6,8 wheel speed sensor FL,FR, RL, 6 mA 16 mA 250
1.5M to bat
RR
wheel speed sensor output (FR,
14,24 20 mA 10 mA 250 200
RL)
11 Diagnostic wire K 6 mA 3 mA 250 200
22 ABS-warning lamp actuation 30 mA 5 mA 250 200
12 EBD-warning lamp actuation 30 mA 5 mA 250 200
20 brake light switch 10 mA 5 mA 250 200
15 CAN Low 30 mA 20 mA 250 200
26 CAN High 30 mA 20 mA 250 200

ABS HECU CONNECTOR

Connector terminal
Specification Condition
Number Description
Current range: Min.10A
1 Ground for recirculation pump Always
Max.20~39A
Ground for solenoid valves and Current range: Min.2.5A
4 Always
ECU Max.5~15A
2 Voltage supply for pump motor
Battery voltage Always
3 Voltage supply for solenoid valves
16
9 Voltage supply for the active
wheel speed sensor FL,FR, RL, Battery voltage IG ON
6 RR
8
5
10 signal wheel speed sensor FL, Voltage(High) : 0.89~1.26 V
On driving
17 FR, RL,RR Voltage (Low) : 0.44~0.63 V

19
Voltage (High) ! 0.8 * IG ON On SCAN TOOL
11 Diagnostic wire K
Voltage (Low) " 0.2 * IG ON communication
18 Voltage for hybrid ECU Battery voltage KEY ON/OFF
Voltage (High) ! 0.8 * IG ON
20 Brake light switch BRAKE ON/OFF
Voltage (Low) " 0.3 * IG ON

SENSOR OUTPUT ON SCAN TOOL(ABS)

Description Abbreviation Unit Remarks

1 Vehicle speed sensor VEH. SPD Km/h
2 Battery voltage BATT. VOL V
3 FL Wheel speed sensor FL WHEEL Km/h
4 FR Wheel speed sensor FR WHEEL Km/h
5 RL Wheel speed sensor RL WHEEL Km/h
6 RR Wheel speed sensor RR WHEEL Km/h
7 ABS Warning lamp ABS LAMP -
8 EBD Warning lamp EBD LAMP -
9 Brake Lamp B/LAMP -
10 Pump relay state PUMP RLY -
11 Valve relay state VALVE RLY -
12 Motor MOTOR -
13 Front Left valve(IN) FL INLET -
14 Front Right valve (IN) FR INLET -
15 Rear Left valve (IN) RL INLET -
16 Rear Right valve (IN) RR INLET -
17 Front Left valve (OUT) FL OUTLET -
18 Front Right valve (OUT) FR OUTLET -
19 Rear Left valve(OUT) RL OUTLET -
20 Rear Right valve (OUT) RR OUTLET -
 2009 > G 2.7 DOHC >

DESCRIPTION
This specification applies to HCU(Hydraulic Control Unit) and ECU(Electronic Control Unit) of the HECU.(Hydraulic and
Electronic Control Unit)
This specification is for the wiring design and installation of ABS/TCS/ESC ECU.
This unit has the functions as follows.
- Input of signal from Pressure sensor, Steering angle sensor, Yaw & Lateral G sensor, the wheel speed sensors
attached to each wheel.
- Control of braking force / traction force/ yaw moment.
- Failsafe function.
- Self diagnosis function.
- Interface with the external diagnosis tester.
Installation position : engine compartment
- Brake tube length from Master cylinder port to HECU inlet port should be max. 1m
- The position should not be close to the engine block and not lower than the wheel.

OPERATION
The ECU shall be put into operation by switching on the operating voltage (IGN).
On completion of the initialization phase, the ECU shall be ready for operation.
In the operating condition, the ECU shall be ready, within the specified limits (voltage and temperature), to process the
signals offered by the various sensors and switches in accordance with the control algorithm defined by the software
and to control the hydraulic and electrical actuators.

Wheel Sensor signal processing

The ECU shall receive wheel speed signal from the four active wheel sensors.
The wheel signals are converted to voltage signal by the signal conditioning circuit after receiving current signal from
active wheel sensors and given as input to the MCU.

Solenoid Valve Control

When one side of the valve coil is connected to the positive voltage that is provided through the valve relay and the
other side is connected to the ground by the semiconductor circuit, the solenoid valve goes into operation.
The electrical function of the coils are always monitored by the valve test pulse under normal operation conditions.

Voltage limits
- Overvoltage
When overvoltage is detected(above 16.8 V), the ECU switches off the valve relay and shuts down the system.
When voltage is returned to operating range, the system goes back to the normal condition after the initialization
phase.
- Undervoltage
In the event of undervoltage(below 9.3 V), ABS control shall be inhibited and the warning lamp shall be turned on.
When voltage is returned to operating range, the warning lamp is switched off and ECU returns to normal operating
mode.

Pump Motor Checking

The ECU performs a pump motor test at a speed of 15km/h once after IGN is switched on.

Diagnostic Interface
Failures detected by the ECU are encoded on the ECU, stored in a EEPROM and read out by diagnostic equipment
when the ignition switch is turned on.
The diagnosis interface can also be used for testing the ECU during production of the ECU and for actuating the HCU
(Air-bleeding line or Roll and Brake Test line).

Warning Lamp module

1. ABS WARNING LAMP MODULE
The active ABS warning lamp module indicates the selftest and failure status of the [Link] ABS warning lamp
shall be on:
A. During the initialization phase after IGN ON. (continuously 3 seconds).
B. In the event of inhibition of ABS functions by failure.
C. During diagnostic mode.
D. When the ECU Connector is seperated from ECU.
2. PARKING/EBD WARNING LAMP MODULE
The active EBD warning lamp module indicates the selftest and failure status of the [Link], in case the
Parking Brake Switch is turned on, the EBD warning lamp is always turned on regardless of EBD [Link]
EBD warning lamp shall be on:
A. During the initialization phase after IGN ON. (continuously 3 seconds).
B. When the Parking Brake Switch is ON or brake fluid level is low.
C. When the EBD function is out of order.
D. During diagnostic mode.
E. When the ECU Connector is seperated from ECU.

ABS CONTROL
1. NORMAL BRAKING without ABS

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Open Close OFF
 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

2. DECREASE MODE
Inlet valve(EV) Outlet valve(AV) Pump motor
Operation Close Open ON(Motor speed control)

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

3. HOLD MODE

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Close Close OFF
 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

4. INCREASE MODE

Inlet valve(EV) Outlet valve(AV) Pump motor

Operation Open Close OFF
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
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

STANDARD FLOW OF DIAGNOSTIC TROUBLESHOOTING

NOTES WITH REGARD TO DIAGNOSIS

The phenomena listed in the following table are not abnormal.

Phenomenon Explanation
System check sound When starting the engine, a thudding sound can sometimes be heard coming
from inside the engine compartment. This is because the system operation check
is being performed.
ABS operation sound 1. Sound of the motor inside the ABS hydraulic unit operation (whine).
2. Sound is generated along with vibration of the brake pedal (scraping).
3. When ABS operates, sound is generated from the vehicle chassis due to
repeated brake application and release
(Thump : suspension; squeak: tires)
ABS operation (Long braking For road surfaces such as snow-covered and gravel roads, the braking distance
distance) for vehicles with ABS can sometimes be longer than that for other vehicles.
Accordingly, advise the customer to drive safely on such roads by lowering the
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.

SCAN TOOL (PRO) 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.
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

PROBLEM SYMPTOMS TABLE
Symptom Suspect Area
ABS does not operate. Only when 1. -4. are all normal and the problem is still
occurring, replace the HECU.
1. Check the DTC reconfirming that the normal code is
output.
2. Power source circuit.
3. Speed sensor circuit.
 4. Check the hydraulic circuit for leakage.
ABS does not operate intermittently. Only when 1. -4. are all normal and the problem is still
occurring, replace the ABS actuator assembly.
1. Check the DTC reconfirming that the system is
operating to specifications.
2. Wheel speed sensor circuit.
3. Stop lamp switch circuit.
4. Check the hydraulic circuit for leakage.
Communication with Scan tool is not possible. 1. Power source circuit
(Communication with any system is not possible) 2. Diagnosis line
Communication with Scan tool is not possible. 1. Power source circuit
(Communication with ABS only is not possible) 2. Diagnosis line
3. HECU
When ignition key is turned ON (engine OFF), the ABS 1. ABS warning lamp circuit
warning lamp does not light up. 2. HECU
Even after the engine is started, the ABS warning lamp 1. ABS warning lamp circuit
remains ON. 2. HECU

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 and is
not an abnormality.

DETECTING CONDITION
Trouble Symptoms Possible Cause
Brake operation varies depending on driving conditions and road - Inoperative power source circuit
surface conditions, so diagnosis can be [Link] if a normal - Inoperative wheel speed sensor circuit
DTC is displayed, check the following probable cause. When the - Inoperative hydraulic circuit for leakage
problem is still occurring, replace the ABS control module.
- 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?

▶ Check the power source circuit.

▶ Erase the DTC and recheck using Scan Tool.

CHECK THE POWER SOURCE CIRCUIT.

1. Disconnect the connector from the ABS control module.
2. Turn the ignition switch ON, measure the voltage between terminal 18 of the ABS control module harness side
connector and body ground.

Specification: approximately B+
 Is the voltage within specification?

▶ Check the ground circuit.

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

CHECK THE GROUND CIRCUIT.

1. Disconnect the connector from the ABS control module.
2. Check for continuity between terminals 1,4 of the ABS control module harness side connector and ground point.
Is there continuity?

▶ Check the wheel speed sensor circuit.

▶ Repair an open in the wire and ground point.

CHECK THE WHEEL SPEED SENSOR CIRCUIT.

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

▶ Check the hydraulic circuit for leakage.

▶ 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?

▶ The problem is still occurring, replace the ABS control module.

▶ Replace the leaking hydraulic lines.

DETECTING CONDITION
 Trouble Symptoms Possible Cause
Brake operation varies depending on driving conditions and road - Inoperative power source circuit
surface conditions, so diagnosis can be [Link] if a normal - Inoperative wheel speed sensor circuit
DTC is displayed, check the following probable cause. When the - Inoperative hydraulic circuit for leakage
problem is still occurring, replace the ABS control module.
- 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?

▶ Check the wheel speed sensor circuit.

▶ 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?

▶ Check the stop lamp switch circuit.

▶ 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 20 of the ABS control module harness side connector and body ground
when brake pedal is depressed.

Specification: approximately B+

Is the voltage within specification?

▶ Check the hydraulic circuit for leakage.

▶ Repair the stop lamp switch. Repair an open in the wire between the ABS control module and the stop lamp
switch.

CHECK THE HYDRAULIC CIRCUIT FOR LEAKAGE.

Refer to the hydraulic lines.
Inspect leakage of the hydraulic lines.
Is the system operating to specifications?
▶ The problem is still occurring, replace the ABS control module.

▶ Replace the leaking hydraulic lines.

DETECTING CONDITION
Trouble Symptoms Possible Cause
Possible malfunction in the power supply system (including ground) - An open in the wire
for the diagnosis line. - Poor ground
- 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?

▶ Check the ground circuit for the diagnosis.

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

CHECK THE GROUND CIRCUIT FOR THE DIAGNOSIS

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

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

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

INSPECTION PROCEDURES
CHECK FOR CONTINUITY IN THE DIAGNOSIS LINE
1. Disconnect the connector from the ABS control module.
2. Check for continuity between terminals 11 of the ABS control module connector and 1 of the data link connector.
Is there continuity?

▶ Check the power source of ABS control module.

▶ Repair an open in the wire.

CHECK THE POWER SOURCE OF ABS CONTROL MODULE

1. Disconnect the connector from the ABS control module.
2. Turn the ignition switch ON, measure the voltage between terminal 18 of the ABS control module harness side
connector and body ground.

Specification: approximately B+

Is voltage within specification?

▶ Check for poor ground.

▶ Check the harness or connector between the fuse (10A) in the engine compartment junction block and the ABS
control [Link] if necessary.

CHECK FOR POOR GROUND

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

▶ Replace the ABS control module and recheck.

▶ Repair an open in the wire or poor ground.

DETECTING CONDITION

Trouble Symptoms Possible Cause

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

INSPECTION PROCEDURES
PROBLEM VERIFICATION
Disconnect the connector from the ABS control module and turn the ignition switch ON.
Does the ABS warning lamp light up?

▶ It is normal. Recheck the ABS control module.

▶ 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 8 of the cluster harness side connector and body ground.

Specification: approximately B+

Is voltage within specification?

▶ Repair bulb or instrument cluster assembly.

▶ Check for blown fuse.

CHECK FOR BLOWN FUSE

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

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

▶ Replace the blown fuse.

DETECTING CONDITION

Trouble Symptoms Possible Cause

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

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?

▶ Repair circuit indicated by code output.

▶ Check instrument cluster.

CHECK INSTRUMENT CLUSTER

Disconnect the cluster connector and turn the ignition switch ON.
Does the ABS warning lamp remains ON?

▶ Replace the instrument cluster.

▶ Check for open the wire.

CHECK FOR OPEN IN THE WIRE

Check for continuity in the wire between cluster and ABS control module.
Is there continuity?

▶ Replace the ABS control module and recheck.

▶ Repair an open in the wire between cluster and ABS control module.

BLEEDING OF BRAKE SYSTEM

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

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

When pressure bleeding, do not depress the brake pedal.

Recommended fluid........ DOT3 or DOT4
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.

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

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

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

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

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.

7. Tighten the bleeder screw.

Bleed screw tightening torque:

7~1 3 Nm (0.7 ~1.3 kgf·m, 5.06 ~ 9.4 lb-ft)

DIAGNOSTIC TROUBLE CODE CHART(DTC)

WARNING LAMP
DTC DESCRIPTION REMARK
ABS EBD ESC
C1101 BATTERY VOLTAGE HIGH ! ! !
C1102 BATTERY VOLTAGE LOW ! !
C1200 FL WHEEL SPEED SENSOR- OPEN/SHORT ! !
C1201 FL WHEEL SENSOR- RANGE/ PERFORMANCE ! !
C1202 FL WHEEL WHEEL SPEED SENSOR-NO SIGNAL ! !
C1203 FR WHEEL SPEED SENSOR- OPEN/SHORT ! !
C1204 FR WHEEL SENSOR- RANGE/ PERFORMANCE ! !
C1205 FR WHEEL SPEED SENSOR-NO SIGNAL ! !
C1206 RL WHEEL SPEED SENSOR- OPEN/SHORT ! !
C1207 RL WHEEL SENSOR- RANGE/ PERFORMANCE ! !
C1208 RL WHEEL SPEED SENSOR-NO SIGNAL ! !
C1209 RR WHEEL SPEED SENSOR- OPEN/SHORT ! !
C1210 RR WHEEL SENSOR- RANGE/ PERFORMANCE ! !
C1211 RR WHEEL SPEED SENSOR-NO SIGNAL ! !
C1213 WHEEL SPEED FREQUENCY ERROR ! !
C1235 PRESSURE SENSOR-ELECTRICAL ! ESP
C1237 PRESSURE SENSOR-SIGNAL FAULT ! ESP
C1260 STEERING ANGLE SENSOR-SIGNAL ! ESP
C1261 STEERING ANGLE SENSOR NOT CALIBRATED ! ESP
C1282 YAW RATE & LATERAL G SENSOR-ELECTRICAL ! ESP
C1283 YAW RATE & LATERAL G SENSOR-SIGNAL ! ESP
C1503 ESP SWITCH ERROR ! ESP
C1513 BRAKE LIGHT SWITCH MALFUNCTION !
C1604 ECU HARDWARE ERROR ! ! !
C1605 CAN CONTROL HARDWARE ERROR ! ESP
C1611 CAN TIME OUT-PCM(ECM) ! ESP
C1612 CAN TIME OUT-PCM(TCM) ! ESP
C1616 CAN BUS OFF ! ESP
C1623 CAN TIMEOUT STEERING ANGLE SENSOR ! ESP
C1625 CAN TIME OUT-ESP ! ESP
C1626 IMPLAUSIBLE CONTROL ! ! ESP
C1702 VARIANT CODING ! ! ! ESP
C2112 VALVE RELAY MALFUNCTION ! ! !
C2308 FL INLET VALVE MALFUNCTION ! ! !
C2312 FL OUTLET VALVE MALFUNCTION ! ! !
C2316 FR INLET VALVE MALFUNCTION ! ! !
C2320 FR OUTLET VALVE MALFUNCTION ! ! !
C2324 RL INLET VALVE MALFUNCTION ! ! !
C2328 RL OUTLET VALVE MALFUNCTION ! ! !
C2332 RR INLET VALVE MALFUNCTION ! ! !
C2336 RR OUTLET VALVE MALFUNCTION ! ! !
C2366 TC VALVE PRIMARY(USV1) ERROR ! ! ! ESP
C2370 TC VALVE SECONDARY (USV2) ERROR ! ! ! ESP
C2372 ESP VALVE 1(HSV1) ERROR ! ! ! ESP
C2374 ESP VALVE 2 (HSV2) ERROR ! ! ! ESP
C2402 MOTOR-ELECTRICAL ! ! !
 Brake System

ABS (Anti-Lock Brake System) - Anti-Lock

Control Unit

Brake System
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the air cleaner. (Refer to 'Master cylinder Removal')
2. Disconnect the brake tube from the HECU by unlocking the nuts counterclockwise with a spanner.

3. Disconnect the connector(A) from the HECU.

4. Remove the two HECU brake mounting bolts(B) , and then disassemble the HECU with the bracket.

1. Never attempt to disassemble the HECU.

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

5. Remove the two HECU mounting nuts (C) and washer, and then remove the bracket.

INSTALLATION
1. Installation is the reverse of removal.
2. Tighten the HECU mounting bolts and brake tube nuts to the specified torque.
Tighterning torque
HECU mounting nut :
6~10 Nm (0.6~1.0 kgf·m, 4.34~7.23 Ib-ft)
HECU bracket mounting bolt:
17~26 Nm (1.7~2.6 kgf·m, 12.3~18.8 Ib-ft)
 Brake System

Brake System
ABS(Anti-Lock Brake System) - Front Wheel
Speed Sensor
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the front wheel speed sensor mounting bolt (A) and the wire bracket mounting bolt (B)..

2. Remove the wire bracket bolt (A).

3. Remove the front wheel guard.

4. Remove the front wheel speed sensor after disconnecting the wheel speed sensor connector (A).

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

In order to protect the wheel speed sensor, when measuring output voltage, a 75! resistor must be used as
shown.
2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output voltage
as shown below.

A. V_low : 0.44 V ~ 0.63 V

B. V_high : 0.885 V ~ 1.26 V
C. Frequency range : 1~2,500 Hz
 Brake System

ABS (Anti-Lock Brake System) - Rear

Wheel Speed Sensor

Brake System
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

REMOVAL
1. Remove the rear wheel speed sensor mounting bolt (A).

2. Remove the rear seat side pad then disconnect the rear wheel speed sensor connector (A).

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

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

2. Compare the change of the output voltage of the wheel speed sensor to the normal change of the output voltage
as shown below.
A. V_low : 0.44 V ~ 0.63 V
B. V_high : 0.885 V ~ 1.26 V
C. Frequency range : 1~2,500 Hz
 Brake System

Brake System
ABS(Anti-Lock Brake System) - EBD (ELEC-
TRONIC BRAKE-FORCE DISTRIBUTION)
 2009 > G 2.7 DOHC >

DESCRIPTION
The EBD system (Electronic Brake force Distribution) as a sub-system of the ABS system is to control the effective
adhesion utilization by the rear wheels.
It further utilizes the efficiency of highly developed ABS equipment by controlling the slip of the rear wheels in the
partial braking range.
The brake force is moved even closer to the optimum and controlled electronically, thus dispensing with the need for
the proportioning valve.
The proportioning valve, because of a mechanical device, has limitations to achieve an ideal brake force distribution
tothe rear wheels as well as to carry out the flexible brake force distribution proportioning to the vehicle load or weight
increasing. And in the event of malfunctioning, driver cannot notice whether it fails or not.
EBD controlled by the ABS Control Module, calculates the slip ratio of each wheel at all times and controls the brake
pressure of the rear wheels not to exceed that of the front wheels.
If the EBD fails, the EBD warning lamp (Parking brake lamp) lights up.

ADVANTAGES
- Function improvement of the base-brake system.
- Compensation for the different friction coefficients.
- Elimination of the proportioning valve.
- Failure recognition by the warning lamp.

Comparison between Proportioning valve and EBD

 Brake System

EPS (Electronic Stability System)

Brake System
2009 > G 2.7 DOHC >

ESP circuit DIAGRAM(1)

ESP circuit DIAGRAM(2)

ESP circuit DIAGRAM(3)
ESP HECU CONNECTOR INPUT / OUTPUT

Connector Terminal
Specifications Conditions
No Description
Current range : Min-10 A
1 Ground(Pump) Always
Max-20 ~ 39 A
Current range : Min-2.5 A
4 Ground(Valve,ECU) Always
Max-5 ~ 15 A
2 Supply voltage(Pump)
Battery voltage Always
3 Supply voltage(Valve)
26 Wheel sensor voltage(FL)
9 Wheel sensor voltage(FR)
Battery voltage IG ON
6 Wheel sensor voltage(RL)
8 Wheel sensor voltage(RR)
5 Wheel sensor signal(FL)
10 Wheel sensor signal(FR) Voltage(High) : 0.89~1.26 V
RUNNING
27 Wheel sensor signal(RL) Voltage(Low) : 0.44~0.63 V

29 Wheel sensor signal(RR)

Voltage(High) : 0.8 * IG ON more SCAN TOOL
11 Diagnosis Input/oupput
Voltage(Low) : 0.2 * IG ON lower Communication
28 Ignition Battery voltage KEY ON/OFF
Voltage(High) : 0.6 * IG ON more
31 ESP Passive switch Switch ON/OFF
Voltage(Low) : 0.4 * IG ON lower
Voltage(High) : 0.7 * IG ON more
36 Hand brake switch Switch ON/OFF
Voltage(Low) : 0.3 * IG ON lower
Voltage(High) : 4.1 V more
37 Yaw Rate Sensor Test IG ON
Voltage(Low) : 1 V lower
18 Yaw Rate Sensor Reference 2.464 V ~ 2.536 V IG ON
Yaw Rate Sensor Signal Offset voltage :2.5 V
16 IG ON
range : 0.35 V ~ 4.65 V(-100 ~ 100 °/s)
Offset voltage :2.5 V
20 Acceleration Sensor Signal IG ON
range : 0.35 V ~ 4.65 V(-1.8 g ~ 1.8 g)
15 Yaw Rate Sensor Ground GND LEVEL Always
35 CAN High not communicating:2.5 ± 0.5 V
communication :

IG ON
14 CAN Low

voltage(High) : 0.8 * IG ON more

30 BRAKE LIGHT SWITCH BRAKE ON/OFF
voltage(Low) : 0.3 * IG ON lower
 2009 > G 2.7 DOHC >

description of ESP
Optimum driving safety now has a name : ESP, the Electronic Stability Control.
ESP 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 needfor actuating the brake or the gas pedal.
ESP adds a further function known as Active Yaw Control (AYC) to the ABS, TCS, EBD and ESP 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 ESP 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.

DESCRIPTION OF ESP CONTROL

ESP 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 [Link] using the input of above signals, the ECU calculates the vehicle speed and the acceleration
& deceleration of the four [Link], 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 [Link] 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/ESP warning lamp. (fail-safe warning)
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 ESP calculations. Variant code programming should be performed whenever an
HECU is replaced.

PROCEDURE OF VARIANT CODING

1. Install a PCM(ECM & TCM)/ESP 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.

6. Follow the next procedure according to the comment .

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

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

9. IGN off.
10. IGN on.
11. The variant coding is completed.
 If the warning lamp(ESP, EBD, ABS) is illuminated, follow the "Variant coding" again.

INPUT AND OUTPUT DIAGRAM

ESP OPERATION MODE

1. STEP 1
The ESP analyzes the intention of the driver.
2. STEP 2
It analyzes the movement of the ESP vehicle.

3. STEP 3
he HECU calculates the required strategy, then actuates the appropriate valves and sents torque control requests
via CAN to maintain vehicle stability.

ESP OPERATION MODE

1. ESP Non-operation-Normal braking.

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

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. ESP INCREASE MODE

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

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. ESP HOLD MODE ( FR is only controlled.)

High pressure
Inlet valve(EV) Outlet valve(AV) Pilot valve(USV) Pump motor
switch valve(HSV)
ON(Motor speed
Normal braking Close Close Close(Partial) Open
low control)
 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. ESP DECREASE MODE (FR is only controlled)

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

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 seperated 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 seperated from ECU.

ESP Warning Lamp (ESP system)

The ESP warning lamp indicates the self-test and failure status of the ESP.
The ESP 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 ESP functions by failure.
- When driver turn off the ESP function by on/off switch.
- During diagnostic mode.

ESC Function Lamp (ESC system)

The ESP function lamp indicates the self-test and operating status of the ESP.
The ESP Function lamp operates under the following conditions :
- During the initialization phase after IGN ON. (continuously 3 seconds).
- When the ESP control is operating. (Blinking - 2Hz)

ESP On/Off Switch (ESP system)

The ESP On/Off Switch shall be used to toggle the ESP 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 ESP function is on and the switch is used to request an ESC status change.
2009 > G 2.7 DOHC >

COMPONENTS
 2009 > G 2.7 DOHC >

FAILURE DIAGNOSIS
1. In principle, ESP and TCS controls are prohibited in case of ABS failure.
2. When ESP or TCS fails, only the failed system control is prohibited.
3. However, when the solenoid valve relay should be turned off in case of ESP failure, refer to the ABS fail-safe.
4. Information on ABS fail-safe is identical to the fail-safe in systems where ESP 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 ESP 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 ESP 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. ESP operation lamp turns on when ESP is malfunctioning.
When power voltage and valve relay voltage are abnormal, input/output related failure judgment is not made.
 Brake System

EPS (Electronic Stability System) - Yaw-rate

And Lateral G Sensor

Brake System
 2009 > G 2.7 DOHC >

DESCRIPTION
1. The yaw-rate & lateral G sensor is applied for the ESP 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.
3. The sensor is located in the crash pad lower floor on vehicle.

SPECIFICATION
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
Yaw-late sensor +w direction, left turn Min.100 °/s Typ. 111 °/S
Measurement range
-w direction, right turn Min.100 °/s Typ. 111 °/S
Non-linearity -1 ~ 1 %
Offset (within life,within operating
3.75 °/S
temperature)
Upper cut-off frequency Min. 45 Hz Typ. 60 Hz
Lateral G sensor +y direction, left turn Min.1.8 g Typ. 2 g
Measurement range
-y direction, right turn Min. -1.8 g Typ. 2 g
Non-linearity -4 ~ 4 %
Offset (within life,within operating
-0.09 ~ 0.09 g
temperature)
Upper cut-off frequency Min. 20 Hz Typ. 40 Hz

OUTPUT CHARACTERISTIC
CIRCUIT DIAGRAM (YAW-RATE & LATERAL G SENSOR)
 Brake System

EPS (Electronic Stability System) - EPS OFF

Switch

Brake System
 2009 > G 2.7 DOHC >

DESCRIPTION
1. The ESP OFF switch is for the user to turn off the ESP system.
2. The ESP OFF lamp is on when ESP OFF switch is engaged.
 2009 > G 2.7 DOHC >

INSPECTION
1. Remove the ESP OFF switch from the switch panel on the crach pad of the driver's side.

2. Check the continuity between the switch terminals as the ESP OFF switch is engaged.
 Brake System

EPS (Electronic Stability System) - Steering

Angle Sensor

Brake System
 2009 > G 2.7 DOHC >

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

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

SPECIFICATION
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)

STEERING ANGLE SENSOR (SAS) calibration

1. PURPOSE OF calibration
A. On vehicle control, an ESP analyzes the intention of the driver.
B. An ESP recognizes a steering angle which a driver rotates through the steering angle sensor.
 C. A steering angle sensor used in ESP adjusts 0° setting of steering wheel through K-line or CAN
communication.
2. STEERING ANGLE SENSOR (SAS) CALIBRATION METHOD

(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.

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

(6) Perform the procedure continuously.

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

(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)