AU
C006A01

This DTC indicates the IPB (Integrated Power Brake) or ESC (Electronic Stability Control) system detects an abnormal parameter configuration status for the yaw rate sensor — Atto 3

Braking System

This DTC indicates the IPB (Integrated Power Brake) or ESC (Electronic Stability Control) system detects an abnormal parameter configuration status for the yaw rate sensor.

Specifically, the control unit cannot correctly identify the sensor identity type, range parameters, or installation direction configuration, causing the system to flag an "unknown sensor type" or "parameter configuration error".

This typically occurs when failing to write parameters after replacing the IPB assembly, ESC module, or yaw rate sensor, or when the sensor hardware model does not match the software configuration.

The fault degrades or disables functions including Electronic Stability Control (ESC), Anti-lock Braking System (ABS), and Automatic Emergency Braking (AEB), compromising driving safety in extreme cases.

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Cases Logged
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Causes
Likely Causes — Atto 3
  • 1Failure to perform sensor parameter configuration (Sensor Configuration) and zero-point calibration (Calibration) using the dedicated diagnostic tool after replacing the IPB assembly, ESC module, or yaw rate sensor.
  • 2Incorrect yaw rate sensor hardware model installed, causing the sensor's actual characteristic parameters to mismatch the parameters pre-stored in the control unit.
  • 3Stored sensor configuration data lost or corrupted after a vehicle software reflash, control unit upgrade, or power disconnection.
  • 4After a vehicle accident or chassis repair, the yaw rate sensor mounting position shifts, its angle changes, or tightening torque is insufficient, causing the actual mounting orientation to deviate from calibration parameters.
  • 5A loose sensor wiring harness connector, water ingress, or high-voltage electromagnetic interference affecting the CAN communication line causes abnormal communication of sensor identification data.
What To Do
  • 1
    Use the BYD dedicated diagnostic tool (VDS2000/VDS2100) to read the IPB/ESC system fault codes. Confirm C006A01 is present and active. Check the ABS and ESC warning light status on the instrument panel.
  • 2
    Check the physical installation of the yaw rate sensor: confirm mounting bolt torque (usually 8-10Nm), mounting surface cleanliness, and that the sensor arrow aligns with the vehicle's longitudinal axis. Inspect the wiring harness connector for looseness, backed-out pins, or water corrosion.
  • 3
    Measure the sensor electrical connections: check the supply voltage (12V ± 0.5V), ground resistance (<1Ω), CAN-H and CAN-L line voltages (2.5V-3.5V / 1.5V-2.5V), and terminating resistance (approx. 60Ω).
  • 4
    Perform parameter configuration (Configuration): Enter the diagnostic tool 'Special Functions' or 'Programming' menu, select 'ESC module configuration' or 'Yaw rate sensor parameter writing', and input the correct configuration code based on the vehicle VIN and the installed sensor part number.
  • 5
    Perform Static Calibration: Confirm the vehicle is stationary on level ground with the steering wheel centered. Execute 'sensor zero-point calibration' using the diagnostic tool and wait for the system to confirm successful calibration.
  • 6
    Perform Dynamic Calibration: After clearing the fault code, drive in a straight line for a certain distance at 20-40 km/h. Then, slowly turn the steering wheel left and right (some models require driving in a figure-eight pattern) until the ESC system completes self-learning. Confirm the fault light turns off.
  • 7
    Road test verification: Perform emergency braking and rapid steering tests to confirm normal ESC operation and verify the fault code does not return.
Real-World Cases
BYD DTC AI Analysis

BYD Atto 3 IPB replaced without parameter configuration, causing C006A01

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Technicians replaced the IPB assembly on a BYD Atto 3 (Yuan Plus) following a brake system fault. Afterward, the ESC and ABS warning lights stayed on and the steering felt heavy. VDS2100 retrieved DTCs C006A01 (system sensor error) and C006A02 (combined sensor failure). The new IPB module contained no yaw rate sensor parameters. The technician accessed Special Functions - ESC Configuration, selected the corresponding sensor model code to write the parameters, and performed static and dynamic calibration. The warning lights turned off and the vehicle stability control system returned to normal.
Original source ↗
BYD DTC AI Analysis

Yaw rate sensor offset after accident repair on Song Plus DM-i

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A 2021 Song PLUS DM-i sustained front-end damage in a collision. After repairs, the instrument cluster displayed 'Brake System Fault' with DTC C006A01. Inspection revealed technicians had removed the IPB assembly during accident repairs. Upon reinstallation, they failed to tighten the yaw rate sensor mounting bolts to the specified 10 Nm, and the sensor mounting surface had deformed. The technician resurfaced the mounting surface, tightened the sensor to the standard 10 Nm torque, then performed yaw rate sensor zero-point recalibration and configuration programming with a diagnostic tool to resolve the fault.
BYD DTC AI Analysis

BYD Dolphin parameters lost after software update

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A BYD Dolphin intermittently displayed 'Check ESP System' on the instrument cluster after a VCU software update at the dealership, with DTC C006A01 appearing intermittently. Investigation revealed the ESC module lost power unexpectedly during the upgrade, corrupting the sensor configuration parameters. Technicians reflashed the ESC module software to the latest version, performed a 'sensor parameter factory reset', reconfigured the yaw rate sensor parameters, and completed road test learning. The fault has not reoccurred.
BYD DTC AI Analysis

Atto 3 sensor wiring harness interference causes identification error

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The ESP warning light on a Yuan PLUS came on intermittently when driving on rough roads. The scanner showed C006A01 (Unknown Sensor Type). Inspection revealed the yaw rate sensor wiring harness ran parallel to the high-voltage harness with a slightly loose connector, causing electromagnetic interference with the CAN communication signal and occasional sensor identification failure. Rerouted the sensor harness away from the high-voltage harness, cleaned and tightened the connector, applied conductive grease, and resolved the fault.
Other Atto 3 Fault Codes
P0A0DBattery Energy Control Module Requested MIL IlluminationP0AA6Hybrid Battery Voltage System Isolation FaultP1A00Drive Motor "A" Performance — BYD proprietaryB1108For the BYD Song MAX (2017–2019), DTC B1108 indicates a short circuit in the PM2.5 air quality detection module (dust sensor) or its wiring harness. The sensor uses laser scattering to detect in-cabin and outside PM2.5 concentrations and transmits data to the HVAC ECU via the LIN bus or an analog signal. Short circuit conditions include: 1) Sensor power supply wire (+5V/+12V) shorted to ground 2) Signal wire shorted to power or ground 3) Short circuit in the sensor's internal photoelectric detection circuit This fault prevents the automatic climate control from switching between fresh air and recirculation based on air quality. The system enters fail-safe mode (typically forced recirculation). Severe short-circuit current can destroy the HVAC ECU sampling circuit. The system classifies this as a Level 3 severe fault and restricts vehicle operation to prevent electrical fires or controller damage. For other BYD models (such as the Qin EV, E5, and Song DM), B1108 indicates a driver-side sunload sensor fault, reflecting differences in DTC definitions across models.B110811This DTC indicates a short circuit in the air conditioning system PM2.5 air quality sensor (rapid detector). Specifically, abnormal continuity exists between the sensor power supply circuit or signal output circuit and body ground or battery positive. This causes the control module (ACU/air conditioning controller) to detect abnormal current or a voltage signal outside the valid range (typically 0V or supply voltage). The PM2.5 sensor monitors internal and external particulate concentrations, providing the data the automatic air conditioning system uses to switch between fresh air and recirculation modes. A short circuit disables the air quality monitoring function. This fault may force the air conditioning system into recirculation protection mode and trigger related thermal management system faults, as the air conditioning system acts as a key actuator in vehicle thermal management. In severe cases, the short circuit current can damage the internal sampling circuit of the air conditioning controller or overheat the wiring harness.
Data confidence: Official This information is for reference only. Always consult a qualified technician for diagnosis and repair. Do not attempt high-voltage system repairs yourself.