In future automobiles, conventional hydraulic brakes can be removed and be replaced by electrically operated brakes called brake-by-wire. The brake-by-wire units such as EMB(Electro-Mechanical Brake) provide better performance in braking by directly controlling the brake motor and are environmentally friendly without hydraulic fluid. Since the brake is safety-critical, the EMB should be reliable in its lifetime and robust fault diagnosis techniques should be included. Many researches have been carried out to develop the diagnosis techniques to improve their robustness and reliability. In this study, a fault size detection method is proposed with the parity space approach for the EMB system. In order to detect and isolate sensor faults from the residual, the residual generator is constructed. The model-based fault diagnosis system is developed for the EMB sensors; current sensor, position (or speed) sensor and clamping force sensor. The proposed system is verified through the closed loop simulations using Matlab/Simulink. Also, in order to verify the EMB model and the diagnosis system, the simulation result is compared to HILS bench test result.