The ZR engine gasoline-engine-family, introduced in 2007 by Toyota Motor Corporation, uses a DOHC 16-valve cylinder head with a 4-cylinder die-cast block. Engines displace either 1.6-liters, 1.8-liters or 2.0-liters. All engines in this family are equipped with Toyota's dual VVT-i technology that optimizes both intake and exhaust valve timing. This engine family is also the first to use Toyota's Valvematic system, first appearing on the Noah and Voxy in 2007 and then the European Avensis in 2009.
The Toyota 1ZR-FE is a DOHC, 16-valve, 1.6 L (1598cc) engine equipped with dual VVT-i. This engine is available with either manual gearbox (5 Speed) or a "multi-mode" manual transmission (MM-T 5 Speed). This new engine is now replacing the 3ZZ-FE engine in most applications. Output for this engine is rated at 124 hp (92 kW) at 6000 rpm and 116 lb·ft (157 N·m) of torque at 5200 rpm net.
The Toyota 1ZR-FAE is a DOHC, 16-valve, 1.6 L (1,598 cc) engine also equipped with Dual VVT-i and Valvematic. Output for this engine is rated at 132 hp (97 kW) at 6400 rpm and 118 lb·ft (160 N·m) of torque at 4400 rpm for the Avensis. Compression ratio has been increased to 10.7:1, red line is at 6600 rpm. Valvematic varies the intake valve lift between 1mm and 11mm according to load and RPM.
The Toyota 2ZR-FE is a DOHC, 16-valve, 1.8 L(1798 cc) engine also equipped with Dual VVT-i.
This new engine is now replacing the 1ZZ-FE engine in most applications. Output for this engine is rated at 98–103 kW (132–138 hp) at 6000 rpm and 173 N·m (127.5 lb·ft) of torque at 4400 rpm for the Corolla, Matrix, and Vibe and 95 kW (128 hp) and 171 N·m (126 lb·ft) of torque in the Scion xD.
The Toyota 2ZR-FAE is a DOHC, 16-valve, 1.8 L (1797 cc) this engine adopts the Valvematic system. This all-new engine is progressively replacing the 1ZZ-FED and 2ZR-FE engine in most applications. Variants of this engine produce 104–110 kW (139–148 bhp) and 171–175 N·m (126–129 lbf·ft) of torque. Compression ratio is 10.5:1 and redline is at 6600 rpm. The engine consumes 5–10% less fuel than the 2ZR-FE depending on the application.