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Nissan Pathfinder Owners & Service Manuals

Nissan Pathfinder: Driver Assistance System - Chassis Control

Nissan Pathfinder (R53) 2022-2025 Service Manual / Cruise Control & Driver Assistance :: Driver Assistance System / Chassis Control

Precautions Nissan Pathfinder 2025

Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT PRE-TENSIONER"

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain types of collisions.

Information necessary to service the system safely is included in the “SRS AIR BAG” and “SEAT BELT” sections of this Service Manual.

WARNING:

Always observe the following items for preventing accidental activation:

  • To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in the event of a collision that would result in air bag inflation, it is recommended that all maintenance and repair be performed by an authorized NISSAN/INFINITI dealer.

  • Improper repair, including incorrect removal and installation of the SRS, can lead to personal injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag Module, see “SRS AIR BAG”.

  • Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness connectors.

PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS

WARNING:

Always observe the following items for preventing accidental activation:

  • When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the ignition/power switch ON or engine running, never use air or electric power tools or strike near the sensor(s) with a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing serious injury.

  • When using air or electric power tools or hammers, always place the ignition/power switch in the OFF position, disconnect the 12V battery or batteries, and wait at least 3 minutes before performing any service.

Precautions for Harness Repair

  • Solder the repaired area and wrap tape around the soldered area.

    NOTE:

    A fray of twisted lines must be within 110 mm (4.33 in).

  • Bypass connection is never allowed at the repaired area.

    NOTE:

    Bypass connection may cause CAN communication error. The spliced wire becomes separated and the characteristics of twisted line are lost.

  • Replace the applicable harness as an assembly if error is detected on the shield lines of CAN communication line.

Precaution for Chassis Control

  • Never disassemble the chassis control module.

  • The parts must not be reused if they are dropped.

  • Never perform "Active Test" while driving the Nissan Pathfinder vehicle.

  • When the intelligent trace control function and active ride control function (if equipped) are activated, the driver may feel some vibration on the brake pedal, hear operating sound, or have feel of the deceleration. This is not a malfunction because it is caused by intelligent trace control function and active ride control function (if equipped) that is normally operated.

  • When the intelligent trace control function is activated, engine sound becomes loud or the tachometer needle fluctuates. This is not a malfunction because it is caused by intelligent trace control function that is normally operated.

  • Intelligent trace control function and active ride control function (if equipped) are not always activated in any driving conditions.

Ecu Diagnosis Information. Chassis Control Module Nissan Pathfinder SUV

Reference Value

NOTE:

The following table includes information (items) inapplicable to this Nissan Pathfinder vehicle. For information (items) applicable to this vehicle, refer to CONSULT display items.

Monitor item Condition Reference values in normal operation
Battery voltage Always 6 - 16 V
ACC voltage Ignition switch ACC 6 - 16 V
CONTROL MODULE MALF When chassis control module is normal Off
When chassis control module is malfunction On
Diag permission condition When not communication Not permission
During communication Permission
When communication is malfunction*1 Abnormal
Chassis control malfunction display When chassis control warning is dysplayed On
When chassis control warning is not displayed Off
Nissan Pathfinder Vehicle Wheel Speed Vehicle stopped 0 km/h
Nissan Pathfinder Vehicle driving*2 Almost same reading as speedometer (Within ±10%)
Nissan Pathfinder Vehicle body speed Vehicle stopped 0 km/h
Nissan Pathfinder Vehicle driving*2 Almost same reading as speedometer (Within ±10%)
FR WHEEL SPEED Nissan Pathfinder Vehicle stopped 0 rpm
Vehicle driving*2 Increases according to Nissan Pathfinder vehicle speed
FL WHEEL SPEED Nissan Pathfinder Vehicle stopped 0 rpm
Nissan Pathfinder Vehicle driving*2 Increases according to vehicle speed
RR WHEEL SPEED Nissan Pathfinder Vehicle stopped 0 rpm
Nissan Pathfinder Vehicle driving*2 Increases according to vehicle speed
RL WHEEL SPEED Nissan Pathfinder Vehicle stopped 0 rpm
Nissan Pathfinder Vehicle driving*2 Increases according to vehicle speed
STEERING ANG SENSOR When Nissan Pathfinder vehicle driving straight 0±3.5 deg
When steering wheel is steered to RH by 90° Approx. +90 deg
When steering wheel is steered to LH by 90° Approx. −90 deg
DECEL G SENSOR Nissan Pathfinder Vehicle stopped Approx. 0 G
When during acceleration Positive value
When during deceleration Negative value
Decel G Nissan Pathfinder Vehicle stopped Approx. 0 G
When during acceleration Positive value
When during deceleration Negative value
SIDE G SENSOR Nissan Pathfinder Vehicle stopped Approx. 0 G
When right turn Negative value
When left turn Positive value
YAW RATE SENSOR Nissan Pathfinder Vehicle stopped Approx. 0 deg/s
When right turn Negative value
When left turn Positive value
ACCELE PEDAL POSITION When accelerator pedal is released 0%
When accelerator pedal is depressed 0 − 100%
PRESS SENSOR When brake pedal is not depressed Approx. 0 bar
When brake pedal is depressed 0 − 126 bar
Throttle control When electric throttle control actuator is normal Normal
When the engine torque command cannot be executed correctly Abnormal 1
When the engine torque command cannot be executed (transient state) Abnormal 2
When the engine torque command cannot be executed Abnormal 3
SHIFT POSITION Selector lever in any position Indicates selected electric shift selector position
STOP LAMP SW When brake pedal is not depressed Brake pedal not operation
When brake pedal is depressed Brake pedal operation 1
When brake pedal being depressed is confirmed Brake pedal operation 2
When stop lamp switch is malfunction*1 Abnormal
ABS When ABS function is inactive INACT
When ABS function is active ACTIVE
ABS MALF When ABS function is malfunction On
When ABS function is not malfunction Off
EBD When EBD function is inactive INACT
When EBD function is active ACTIVE
TCS When TCS function is malfunction INACT
When TCS function is normal ACTIVE
TCS MALF When TCS function is malfunction On
When TCS function is not malfunction Off
VDC When VDC function is inactive INACT
When VDC function is active ACTIVE
VDC MALF When VDC function is malfunction On
When VDC function is not malfunction Off
VDC OFF SWITCH When VDC OFF function is ON On
When VDC OFF function is OFF Off
ICC brake active status When brake function of ADAS system is permitted PERMIT
When brake function of ADAS system is not permitted NO PER
When ADAS system is malfunction*1 Abnormal
Yaw rate (ADAS) When yaw rate (braking) control by ADAS system Braking
When yaw rate (braking) not control by ADAS system No braking
When ADAS system is malfunction*1 Abnormal
ProPILOT park — Displays but not used
Brake torque request When active ride control is active Change according to input of brake control
When active ride control is inactive 0 Nm
Command BR torque (CCS) — Displays but not used
Command BR torque (HPCM) — Displays but not used
Command BR torque (ADAS) 1 When no brake torque command from ADAS control unit 2 0 Nm
When brake torque command from ADAS control unit 2 Change according to brake command from ADAS control unit 2
Command BR torque (ADAS) 2 When no brake torque command from ADAS control unit 2 0 Nm
When brake torque command from ADAS control unit 2 Change according to brake command from ADAS control unit 2
Reg brake request (HPCM) — Displays but not used
Driver brake torque request — Displays but not used
CC/SL active status 1 — Displays but not used
Yaw control status — Displays but not used
Control status (VDC) 1 When VDC function is impossible Impossi
When VDC function is possible Possible
Control status (VDC) 2 When VDC function is impossible Impossi
When VDC function is possible Possible
Maintenance mode status When not used NOT
When Not requested No req
When requested request
When unavailable Unavail
Reg brake status (VDC) — Displays but not used
Engine control status 1 — Displays but not used
Engine control status 2 — Displays but not used
CC/SL active status 2 — Displays but not used
Brake active request (ADAS) 1 When VDC function is impossible Impossi
When VDC function is possible Possible
Brake active request (ADAS) 2 When not requested Inactive
When requested of other parking system 1
When requested of parking system 2
Brake active request (ADAS) 3 When not requested NO REQ
When requested REQ
Rear wheel steering status 1 — Displays but not used
Rear wheel steering status 2 — Displays but not used
ATC/ITC status 2 When normal status Normal
When malfunction status Malf
ATC/ITC status 3 When normal status Normal
When malfunction status Malf
ATC/ITC status 4 When normal status Normal
When malfunction status Malf
ATC/ITC status 5 When normal status Normal
When malfunction status Malf
ITC/ATC status (ENG control) 1 — Displays but not used
ITC/ATC status (ENG control) 2 — Displays but not used
ITC/ATC status (BR control)1 — Displays but not used
ITC/ATC status (BR control)2 — Displays but not used
IEB/AEB status 1 — Displays but not used
IEB/AEB status 2 — Displays but not used
ARC/IRC status 1 When normal status Normal
When malfunction status Malf
ARC/IRC status 2 When normal status Normal
When malfunction status Malf
Chassis control (ADAS) 1 When normal status Normal
When malfunction status Malf
Chassis control (ADAS) 2 When normal status Normal
When malfunction status Malf
ARC/IRC status 3 When normal status Normal
When malfunction status Malf
ARC/IRC status 4 When normal status Normal
When malfunction status Malf
Parking brake operation status When electric parking brake system is release Release
When electric parking brake system is apply Apply
When electric parking brake function is malfunction*1 Abnormal
Stop hold (VDC) When stop hold status is release Release
When stop hold status is active Hold
When stop hold status is impossible Impossible
FR wheel speed pulse (stop hold) Nissan Pathfinder Vehicle stopped 0
Vehicle driving*2 Increases according to Nissan Pathfinder vehicle speed
FL wheel speed pulse (stop hold) Nissan Pathfinder Vehicle stopped 0
Vehicle driving*2 Increases according to Nissan Pathfinder vehicle speed
RR wheel speed pulse (stop hold) Nissan Pathfinder Vehicle stopped 0
Vehicle driving*2 Increases according to Nissan Pathfinder vehicle speed
RL wheel speed pulse (stop hold) Nissan Pathfinder Vehicle stopped 0
Vehicle driving*2 Increases according to Nissan Pathfinder vehicle speed
ICC status When ADAS system is OFF Off
When ADAS system is operation Operation
When ADAS system is stop Stop
When ADAS system is wait Wait
When ADAS system is suspended Suspend
When ADAS system is brake mode Brake mode
When ADAS system is regulation Regulation
When ADAS system is driver override Driver override
When ADAS system is malfunction Malfunction
ABH warning display request When automatic brake hold warning is not displayed No request
When automatic brake hold warning is displayed Request
ABH select status When automatic brake hold function is OFF mode OFF mode
When automatic brake hold function is auto mode AUTO mode
ABH status 1 When automatic brake hold function is inactive Inactive
When automatic brake hold function is active Active
ABH status 2 When automatic brake hold function is inactive Inactive
When automatic brake hold function is active Active
EPB active request (ABH) When active request of electric parking brake system is not requested (automatic brake hold function) No request
When active of electric parking brake system is requested (automatic brake hold function) Request
ABH stop hold request 2 When stop hold of automatic brake hold function is not requested NO REQ
When stop hold of automatic brake hold function is requested REQ
ABH status 3 —*3 Displays but not used*3
When automatic brake hold function is inactive*4 No request*4
When automatic brake hold function is active*4 Request*4
ProPILOT stop hold status —*3 Displays but not used*3
When stop hold not request from Pro PILOT (Current)*4 No request*4
When stop hold request from Pro PILOT (Current)*4 Active*4
EPB active request (ProPILOT) —*3 Displays but not used*3
When inactive request of electric parking brake system (ProPILOT)*4 Inactive*4
When active request of electric parking brake system (ProPILOT)*4 Request*4
ABH active request (ProPILOT) —*3 Displays but not used*3
When inactive request of automatic brake hold function (ProPILOT)*4 No request*4
When active request of automatic brake hold function (ProPILOT)*4 Request*4
ABH SW 2 When automatic brake hold switch is not push No push
When automatic brake hold switch is pushing Push
ABH SW indicator lamp 3 When lighting request of automatic brake hold switch indicator On
When not lighting request of automatic brake hold switch indicator Off
DRIVE MODE SELECTOR Always (Mode 0 - 30)
User — Displays but not used
Drive Mode Selector —*5 Displays but not used*5
Always*6 (Mode 0 - 255)*6
Engine/TM setting — Displays but not used
STRG SETTING — Displays but not used
4WD setting — Displays but not used
ATC SETTING — Displays but not used
ICC setting — Displays but not used
I-KEY LINK — Displays but not used
LOG-IN PERMIS — Displays but not used
Drive mode select switch (UP) When drive mode select switch is not operation*5 Not operation*5
When drive mode select switch is operation (Up)*5 Operation*5
—*6 Displays but not used*6
Drive mode select switch (DOWN) When drive mode select switch is not operation*5 Displays but not used*5
When drive mode select switch is operation (Down)*5 Not operation*5
—*6 Displays but not used*6

*1: It may be displayed when initializing communication.

*2: Check tire pressure under normal conditions.

*3: Without ProPILOT models

*4: With ProPILOT models

*5: 2WD models

*6: 4WD models

TERMINAL LAYOUT

PHYSICAL VALUES

Terminal No.

(Wire color) 		Description Condition Value
+ − Signal name Input/Output

3

(GR) 		Ground CAN-H — — — —

4

(R) 		CAN-L — — — —

5

(LA/G) 		Accessory power supply Input Ignition switch ON 6 - 16 V

7

(V) 		CAN-L — — — —

8

(GR) 		CAN-H — — — —

9

(GR) 		CAN-H — — — —

13

(R) 		Battery power supply — Always 6 - 16 V

15

(B) 		Ground — Ignition switch ON — Approx. 0 V

16

(G) 		CAN-L — — — —

17

(GR) 		CAN-H — — — —
 

19

(GR) 		CAN-H — — — —

20

(G) 		CAN-L — — — —

21

(V) 		CAN-L — — — —

22

(V) 		Automatic brake hold switch indicator Output Ignition switch ON Automatic brake hold function ON Approx. 4 V
Automatic brake hold function OFF Approx. 12 V

24

(SB) 		Automatic brake hold switch Input Ignition switch ON Automatic brake hold switch is pushing Approx. 0 V

Fail-safe

Refer to Fail-safe.

DTC Inspection Priority Chart

When multiple DTCs are displayed simultaneously, check them one by one according to the following priority list.

Priority Detected item (DTC)
1

  • U1327-54 MAC key update
2

  • U1327-52 MAC key update
3

  • U0076-00 Control module comm Bus D Off

  • U007A-00 Control module comm Bus H Off

  • U2140-57 CAN comm err (ECM)

  • U2140-83 CAN comm err (ECM)

  • U2140-87 CAN comm err (ECM)

  • U214F-57 CAN comm err (BCM)

  • U214F-83 CAN comm err (BCM)

  • U214F-87 CAN comm err (BCM)

  • U2152-57 CAN comm err (ADAS control unit)

  • U2152-83 CAN comm err (ADAS control unit)

  • U2152-87 CAN comm err (ADAS control unit)

  • U215B-83 CAN comm err (IPDM E/R)

  • U215B-87 CAN comm err (IPDM E/R)

  • U2165-57 CAN comm err (sonar)

  • U2248-83 CAN comm err (brake control unit)

  • U2248-87 CAN comm err (brake control unit)

  • U2448-87 CAN comm err (ABS control unit)

  • U2541-83 CAN comm err (TCM)

  • U2541-87 CAN comm err (TCM)

  • U2A03-88 CAN comm error

  • U2A0B-88 CAN comm error

  • U2A0E-88 CAN comm error
4

  • C1B80-54 Calibration not completed

  • C1B81-55 Configuration not completed
5

  • C1B8F-82 IPDM E/R COMM

  • C1B92-82 BRAKE CONTROL SYSTEM

  • C1B93-82 ENGINE/HEV SYSTEM

  • C1B94-82 TM SYSTEM

  • C1B96-82 ADAS SYSTEM

  • C1B97-82 BCM
6

  • C1BB4-44 CONTROL MODULE

  • C1BB4-45 CONTROL MODULE

  • C1BB4-46 CONTROL MODULE

  • C1BB4-49 CONTROL MODULE

DTC Index

Self Diagnostic Result

DTC Display item Warning massage Refer to
C1B80-54 Calibration not completed ON DTC Description
C1B81-55 Configuration not completed ON DTC Description
C1B8F-82 IPDM E/R COMM ON DTC Description
C1B92-82 BRAKE CONTROL SYSTEM ON DTC Description
C1B93-82 ENGINE/HEV SYSTEM ON DTC Description
C1B94-82 TM SYSTEM ON DTC Description
C1B96-82 ADAS SYSTEM - DTC Description
C1B97-82 BCM ON DTC Description
C1BB4-44 CONTROL MODULE ON DTC Description
C1BB4-45 CONTROL MODULE ON* DTC Description
C1BB4-46 CONTROL MODULE ON DTC Description
C1BB4-49 CONTROL MODULE ON* DTC Description
U2140-83 CAN comm err (ECM) ON DTC Description
U214F-83 CAN comm err (BCM) ON DTC Description
U2152-83 CAN comm err (ADAS control unit) - DTC Description
U215B-83 CAN comm err (IPDM E/R) ON DTC Description
U2248-83 CAN comm err (brake control unit) ON DTC Description
U2541-83 CAN comm err (TCM) ON DTC Description

*: Chassis control warning in information display turns ON/OFF according to a condition when DTC is detected.

Network-DTC

DTC Display item Warning massage Refer to
U0076-00 Control module comm Bus D Off - DTC Description
U007A-00 Control module comm Bus H Off - DTC Description
U2140-87 CAN comm err (ECM) ON DTC Description
U214F-87 CAN comm err (BCM) ON* DTC Description
U2152-87 CAN comm err (ADAS control unit) - DTC Description
U215B-87 CAN comm err (IPDM E/R) ON DTC Description
U2248-87 CAN comm err (brake control unit) ON DTC Description
U2448-87 CAN comm err (ABS control unit) ON DTC Description
U2541-87 CAN comm err (TCM) ON DTC Description
U2A03-88 CAN comm error - DTC Description
U2A0B-88 CAN comm error - DTC Description
U2A0E-88 CAN comm error - DTC Description

*: Chassis control warning in information display turns ON/OFF according to a condition when DTC is detected.

MAC Diagnosis

DTC Display item Warning massage Refer to
U1327-52 MAC key update - DTC Description
U1327-54 MAC key update - DTC Description
U2140-57 CAN comm err (ECM) - DTC Description
U214F-57 CAN comm err (BCM) - DTC Description
U2152-57 CAN comm err (ADAS control unit) - DTC Description
U2165-57 CAN comm err (sonar) - DTC Description

Symptom Diagnosis. Chassis Control System Nissan Pathfinder 5th Gen

Symptom Table

INTELLIGENT TRACE CONTROL

Perform self-diagnosis using CONSULT before the symptom diagnosis. Perform trouble diagnosis if any DTC is detected. Refer to DTC Index.

Symptom Possible cause Inspection item
Intelligent trace control inoperative/ineffective No intelligent trace control assist VDC OFF setting is engaged. VDC OFF setting to the OFF.
Brake pad wear. Check the brake pads and replace if necessary.
Certain roads, inclement weather or driving conditions. System is functioning normally, confirm the driving condition with the customer.
Excessive lag on turns Wheel alignment. Repair alignment malfunction.
Road wheel tire condition is abnormal. Check the road wheel tire.
Road wheel tire size is abnormal.
Certain roads, inclement weather or driving conditions. System is functioning normally, confirm the driving condition with the customer.

ACTIVE RIDE CONTROL (IF EQUIPPED)

Symptom Possible cause Inspection item
Active ride control inoperative/ineffective No active ride control assist VDC OFF setting is engaged. VDC OFF setting to the OFF.
Brake pad wear. Check the brake pads and replace if necessary.
Bumpy ride on bumpy road. Road wheel tire condition is abnormal.
Bumpy ride on bumpy road Road wheel tire condition is abnormal. Check the road wheel tire.
Road wheel tire size is abnormal.
Certain roads, inclement weather or driving conditions. System is functioning normally, confirm the driving condition with the customer.

Removal and Installation. Chassis Control Module Nissan Pathfinder

Removal and Installation

REMOVAL

CAUTION:

If replacing chassis control module, Perform "ADDITIONAL SERVICE WHEN REPLACING CHASSIS CONTROL MODULE." Refer to Description.

Remove the instrument panel assembly. Refer to Removal and Installation.

Release clip (A).

Disconnect the harness connector from chassis control module.

Remove nut (A), then remove chassis control module (1).

CAUTION:

Do not drop the chassis control module.

INSTALLATION

Installation is in the reverse order of removal.

CAUTION:

If replacing chassis control module, perform "ADDITIONAL SERVICE WHEN REPLACING CHASSIS CONTROL MODULE." Refer to Description.

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Nissan Pathfinder (R53) 2022-2025 Service Manual

Chassis Control

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