Normal Operation and Fault Conditions

The ABS module receives vehicle yaw rate, lateral acceleration, longitudinal acceleration and roll rate from RCM over the HS-CAN 2. The yaw rate sensor, lateral accelerometer, longitudinal accelerometer and roll rate sensor are contained in the RCM. A failure of the HS-CAN 2, an internal failure of the RCM or the internal sensors causes the ABS to set one or more DTCs.