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 — Seal 6 EV

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 — Seal 6 EV
  • 1After replacing the IPB assembly, ESC module, or yaw rate sensor, failed to perform sensor parameter configuration (Sensor Configuration) and zero-point calibration (Calibration) using the dedicated diagnostic tool.
  • 2Incorrect yaw rate sensor hardware model installed, causing actual sensor characteristic parameters to mismatch parameters pre-stored in the control unit.
  • 3Loss or corruption of stored sensor configuration data 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 fastening torque is insufficient, causing the actual mounting attitude to differ from the calibration parameters.
  • 5A loose sensor wiring harness connector, water ingress, or high-voltage electromagnetic interference on the CAN communication line causes abnormal sensor identification data communication.
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 instrument panel ABS and ESC warning lamp status.
  • 2
    Check the physical installation of the yaw rate sensor: verify mounting bolt torque (typically 8-10Nm), mounting surface cleanliness, and sensor arrow alignment with the vehicle longitudinal axis. Inspect the wiring harness connector for looseness, backed-out pins, or water ingress 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 (approximately 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 enter the correct configuration code based on the vehicle VIN and the actual installed sensor part number.
  • 5
    Perform Static Calibration: Ensure the vehicle is on level ground, the steering wheel is centered, and the vehicle is stationary. Use the diagnostic tool to perform 'sensor zero-point calibration' and wait for the system to confirm successful calibration.
  • 6
    Perform Dynamic Calibration: After clearing the fault code, drive in a straight line at 20-40 km/h for a certain distance, 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 warning 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 recur.
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 Seal 6 EV Fault Codes
B1108For 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.B1109DTC B1109 indicates an open circuit in the communication line between the air conditioning system PM2.5 air quality sensor (dust concentration sensor) and the air conditioning control unit (AC ECU), or an open circuit within the sensor internal circuitry. Typically located in the air conditioning intake duct, this sensor monitors real-time PM2.5 particle concentration inside and outside the vehicle. It provides data to the automatic air conditioning system for intelligent switching between fresh air and recirculation modes and for controlling the air purification device. During an open circuit fault, the AC ECU cannot receive the air quality signal, triggering the system fail-safe mode. Symptoms typically include failure of the automatic recirculation function, abnormal air purification indicator light operation, or abnormal air quality data displayed on the air conditioning panel. Severe cases may compromise the cabin environment control strategy, but do not directly affect vehicle driving safety.B110913DTC B110913 indicates an open signal circuit for the PM2.5 rapid detector (in-cabin air quality sensor). This sensor typically mounts inside the air conditioning system intake duct. It monitors in-cabin PM2.5 concentration in real time and provides data to the automatic air conditioning system for intelligent control of the air purification function. The BYD diagnostic protocol uses sub-code '13' to specifically indicate an open signal circuit. Although this fault theoretically affects a comfort feature, BYD Qin series vehicles classify it as a Level 3 (severe) fault. This classification occurs because the air conditioning system interacts with the battery thermal management system (e.g., monitoring battery cooling intake air quality). The fault can disable the automatic air conditioning mode and prevent the air purification function from operating. In extreme cases, it affects the battery compartment intake air quality assessment, triggering the 'repair immediately' strategy.B110AThis DTC indicates interrupted CAN bus communication or abnormal data between the air conditioning control unit (ACU) and the PM2.5 air quality sensor. The PM2.5 sensor monitors particulate concentration inside and outside the vehicle and provides the basis for purification control in the automatic air conditioning system. The ACU triggers this fault if it fails to receive a valid CAN message from the sensor within the specified period (usually 100-500 ms), if message verification fails, or if the signal frame times out. Although this fault does not affect vehicle driving safety, it disables the automatic air purification function. The air conditioning system cannot automatically switch between recirculation and fresh air modes or activate the air purification mode based on air quality. A persistent fault may restrict the thermal management strategy.
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.