DTC C1A04: Abs/TCS/VDC System: Description

WARNING: This page is about a different car, the 2008 Infiniti EX35. However, it is still accessible from the selected car via links, so may be relevant.

ABS actuator and electric unit (control unit) transmits the vehicle speed signal (wheel speed), the stop lamp switch signal, and the operation status of the VDC, TCS, and ABS systems to the ICC sensor integrated unit with CAN communication.
ABS actuator and electric unit (control unit) receives the deceleration degree command value signal from the ICC sensor integrated unit with CAN communication and controls the brake fluid pressure.