Refer to "54.Brake Control 4A.Troubleshooting(ABS/ESC) diagnostic System Check - Brake Controls".
1) Connect the scan tool.
2) Clear the DTC with a scan tool.
3) Turn OFF the ignition switch.
4) Turn ON the ignition switch.
5) Observe the DTC information with a scan tool. Is a DTC set?
Yes
Ask the driver whether excessive brake operation or sudden deceleration is frequently conducted.
No
Go to Intermittent conditions of brake.
Refer to "205.Brakes 18D.Symptom intermittent conditions of brake".
1) Clear the DTC with a scan tool.
2) Turn OFF the ignition switch.
3) Turn ON the ignition switch.
4) Observe the DTC information with a scan tool.