Rear Wheel Steering System Cadillac Escalade GMT800

Specifications

Fastener Tightening Specifications

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Diagnostic Starting Point - Rear Wheel Steering

Begin the system diagnosis with the Diagnostic System Check. Refer to DIAGNOSTIC SYSTEM CHECK - Rear Wheel Steering . The Diagnostic System Check will provide the following information

1. The identification of the control module that commands the system.
2. The ability of the control module to communicate through the serial data circuit.
3. The identification of any stored diagnostic trouble codes (DTCs) and their status.

The use of the Diagnostic System Check will identify the correct procedure for diagnosing the system and where the procedure is located.

Circuit Description

The Rear Wheel Steering Diagnostic System Check is an organized approach to identifying problems associated with the Rear Wheel Steering System.

This must be the starting point for any Rear Wheel Steering System related concern and will direct you to the next logical step in diagnosing a malfunction. Most system malfunctions are linked to faulty wiring, connections and occasionally, to components. Understanding the Rear Wheel Steering System and using the diagnostic tables correctly will reduce diagnostic time and prevent unnecessary parts replacement.

Test Description

The numbers below refer to the step numbers in the diagnostic table.

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1. 2. Lack of communication may be due to partial or total malfunction of the class 2 serial data circuit. The specified procedure will determine the particular condition.
2. 4. The symptom list in Symptoms will determine the correct diagnostic procedure to use.

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Scan Tool Data Definitions

2-Wheel Steer Mode Lamp: Scan tool displays ON/OFF. The state of the mode indicator as commanded by the rear wheel steering control module.

4-Wheel Steer Mode Lamp: Scan tool displays ON/OFF. The state of the mode indicator as commanded by the rear wheel steering control module.

4-Wheel Steer-Tow Mode Lamp: Scan tool displays ON/OFF. The state of the mode indicators commanded by the rear wheel steering control module.

8-Digit GM Part Number: The scan tool displays the GM part number of the rear wheel steering control module.

Actual Rear Steering Angle: The scan tool displays the actual angle of the rear wheels. With a range of 0° to 12°.

Battery Voltage: The scan tool displays 0-16.0 volts. The scan tool displays the battery system voltage as monitored by the rear wheel steering control module.

Command 2-Wheel Steer: The scan tool displays ON/OFF. The scan tool displays ON when commanded by the scan tool while causing the 2-Wheel Steer LED to be illuminated. The scan tool displays OFF when commanded by the scan tool while causing the 2-Wheel Steer LED to be turned OFF.

Command 4-Wheel Steer: The scan tool displays ON/OFF. The scan tool displays ON when commanded by the scan tool while causing the 4-Wheel Steer LED to be illuminated. The scan tool displays OFF when commanded by the scan tool while causing the 4-Wheel Steer LED to be turned OFF.

Command 4-Wheel Steer-Tow: The scan tool displays ON/OFF. The scan tool displays ON when commanded by the scan tool while causing the 4-Wheel Steer and trailing LED to be illuminated. The scan tool displays OFF when commanded by the scan tool while causing the 4-Wheel Steer and trailering LED to be turned OFF.

Commanded Rear Steer Left: The scan tool displays ON/OFF. The scan tool causes the rear wheels to turn to the left during an ON command and return to normal operation during the OFF command.

Commanded Rear Steer Right: The scan tool displays ON/OFF. The scan tool causes the rear wheels to turn to the right during an ON command and return to normal operation during the OFF command.

Digital SWPS Phase A-Steering Wheel Position Sensor: The scan tool displays High/Low. Phase A signal of the Steering Wheel Position Sensor should change states as the steering wheel is rotated left or right. Each transition from high to low represents one degree.

Digital SWPS Phase B-Steering Wheel Position Sensor: The scan tool displays High/Low. Phase B signal of the Steering Wheel Position Sensor should change states as the steering wheel is rotated left or right. Each transition from high to low represents one degree.

Hall Sensor Reference: The scan tool displays 12 V. The hall sensor reference is the supply voltage of the hall sensor.

Ignition 3: The scan tool displays 0-16 volts. Ignition 3 is hot in run mode only.

Ignition Cycles Since Last Fault: The scan tool displays 0-100. The number of ignition cycles since the last fault occurred.

Lateral Accelerometer Sensor Signal: The scan tool displays 0-5 volts. The lateral accelerometer signal from the lateral sensor measures vehicle rotation about an axis through the center of mass of the vehicle 2.5-volt at rest. The vehicle has 0 g lateral acceleration when the lateral accelerometer sensor signal is approximately 2.5 V.

Motor Current: The scan tool displays 0-85-amps Max, A typical range of 20-50-amps. Motor current is the range of the current in the rear steering motor during normal operation.

Motor Relay Commanded State: The scan tool displays ON/OFF. When system is in RUN then the relay will be ON, if system is shut down for any reason the relay will be OFF.

Motor Relay Feedback State: The scan tool displays ON/OFF. The actual state of relay.

Rear Wheel Centering 1: The scan tool displays 2.5 volts. The parameter, represented as a voltage, that monitors the rear wheel position 1 signal. When the rear wheel sensor is centered, the scan tool displays 2.5 volts.

Rear Wheel Centering 2: The scan tool displays 2.5 volts. The parameter, represented as a voltage, that monitors the rear wheel position 2 signal. When the rear wheel sensor is centered, the scan tool displays 2.5 volts.

Rear Steer Mode Actual: The scan tool displays: 2WS, 4WS, 4WS Tow. The actual state of the rear wheel steering system.

Rear Steer Mode Request: The scan tool displays: 2WS, 4WS, 4WS Tow. The requested state of the rear wheel steering system.

Rear Wheel Position 1: The scan tool displays 0.25-4.75 volts. This parameter monitors the first of two rear wheel sensor signals for out of specified operation range.

Rear Wheel Position 2: The scan tool displays 0.25-4.75 volts. This parameter monitors the second of two rear wheel sensor signals for out of specified operation range.

Rear Steer Select Switch: The scan tool displays ON/OFF. The rear wheel steering selection switch allows the driver to change steering modes.

Requested Rear Steering Angle: The scan tool displays 0-12 degrees. This is the command coming from the rear wheel steering module.

Sensor Supply Voltage: The scan tool displays approx 5.00 volts. The sensor supply voltage is the supply voltage of the rear wheel position and combined lateral accelerometer/yaw rate sensors.

Steering Wheel Angle: The scan tool displays -609 to +609 degrees. The steering wheel angle parameter indicates the direction of rotation of the steering wheel.

Steering Wheel Angle (TBC): This parameter is displayed in degrees from -225 to +225. This angle represents the analog signal communicated to the rear wheel steering control module from the BCM via class 2 communication.

Steering Wheel Sensor Signal: This parameter is displayed in BCM Data. The scan tool displays from 0.25-4.75 volts. The signal is a linear signal that measures its minimum voltage when the steering wheel is turned approximately one full turn from center to the left. Maximum voltage is reached approximately one full turn from center to the right. The scan tool displays approximately 2.5 volts with the steering wheel centered.

SWPS Marker Pulse: The scan tool displays HIGH/LOW. The marker pulse is used to center the rear wheels during the learn alignment procedure.

Vehicle Speed: The scan tool displays 0 to 159 mph. The rear wheel steering control module receives vehicle speed information, 0-255 kmh (0-159 mph) from the PCM vehicle speed signal circuit. The PCM calculates the vehicle speed from VSS signal.

Yaw Rate Sensor Input: The scan tool displays 0-5 volts. The yaw rate sensor input is a voltage measurement of rotation on a vertical axis. When the yaw rate sensor input data parameter is approximately 2.5 volts the vehicle's roll rate equals 0 degrees/second.

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DIAGNOSTIC TROUBLE CODE (DTC) IDENTIFICATION

The rear wheel steering control module monitors the rear wheel steering mode select switch 5-volt reference circuit for out of range voltage conditions. When the mode select switch button is depressed the switch is in the active state. When the mode select switch is released the switch is in the inactive state. The following conditions will help determine if there is a malfunctioning rear wheel steering mode select switch

1. The resistance of the load in the active state is 500 ohms with an additional 1,000 ohms pull-up resistor.
2. The resistance of the load in the inactive state is 2,000 ohms with an additional 1,000 ohms pull-up resistor.
3. The pull-up voltage is 12 volts.

Conditions for Running the DTC

Turn ON the ignition, with engine ON.

Conditions for Setting the DTC

1. The mode select switch 5-volt reference circuit is open, shorted to ground or voltage.
2. The mode select switch signal circuit is open or shorted to voltage.

Action Taken When the DTC Sets

1. The Service 4-Wheel Steer indicator on IPC will be displayed.
2. The code is displayed on the scan tool as DTC B3593.
3. The output to the motor is ramped down slowly at a rate of 1 degree/second back to center and held.
4. The rear wheels will be returned to the centered position.

Conditions for Clearing the DTC

1. The conditions for DTC are not currently present.
2. The module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

Diagnostic Aids

1. Inspect for poor connections at the harness connector of the rear wheel steering control module and Rear Wheel Steering Select Switch. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its alignment memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module.

The numbers below refer to the step numbers on the diagnostic table.

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1. 2. The normal state of the switch is the state of the switch input before activation. The terminology used by the scan tool is OFF.
2. 3. Tests for the proper operation of the switch in the normally open position.
3. 4. Tests for the proper operation of the switch in the closed position.
4. 5. Tests the 5-volt reference circuit for an open or a short to ground.

The rear wheel steering control module receives a vehicle speed signal input from the powertrain control module (PCM) via the vehicle speed signal circuit and also receives vehicle speed data over the serial data class 2 circuit. Once vehicle speed has been detected, the rear wheel steering control module compares the two inputs for accuracy. The module calculates the vehicle speed from the PCM with a resolution of 0.80 km/h (0.5 mph) from 0-209 km/h (0-130 mph). The discrete VSS signal must be present for rear wheel steer operation. The class 2 information is only used for comparison calculations.

1. The engine must be running.
2. The vehicle speed must be greater than 15 km/h (9 mph).

1. The vehicle speed discrete line and the vehicle speed class 2 line information vary by more than 15 km/h (9.0 mph).
2. The Class 2 vehicle speed is greater than 33 km/h (20 mph) and the calculated speed input is less than 5 km/h (3 mph) continuous for 10 seconds.

1. The Service 4 Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0000.
3. The output to the motor is ramped down slowly and held.
4. The rear wheels will return to the centered position.

Conditions for Clearing the MIL/DTC

1. The rear wheel steering control module detects a vehicle speed signal from the PCM of greater than 32 km/h (20 mph).
2. A history DTC will clear after not seeing the malfunction for 100 consecutive ignition cycles.
3. The module receives a clear code command from the scan tool.
4. Malfunction conditions are not currently present.

1. Most of the occurrences of this DTC are caused by a short or an open vehicle speed sensor signal circuit to the rear wheel steering control module. Review rear wheel steering system operation or, with the customer, verify the condition under which the DTC set.
2. Inspect for poor connections at the harness connector of the rear wheel steering control module. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
3. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .

The numbers below refer to the step numbers on the diagnostic table.

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1. 3. Tests whether the condition is module, system, or condition related.
2. 4. Tests whether the condition has been corrected or identified as specified in the supporting text.
3. 5. Test for an open or short in the vehicle speed signal circuit of the rear wheel steering control module.

With the vehicle at rest the lateral accelerometer voltage should be 2.5 volts. The scan tool will report lateral accelerometer as 2.5 volts. The sensor bias compensates for electronic signal errors, temperature changes, manufacturing differences and monitoring differences.

1. The ignition is ON.
2. The vehicle speed is greater than 5 km/h (3 mph).

The lateral accelerometer input voltage is less than 1.17 volts or greater than 3.83 volts for more than 2 minutes.

1. The code is displayed on the scan tool as DTC C0186.
2. The rear wheel steering system remains functional.

1. The conditions for the DTC are not currently present.
2. The rear wheel steering control module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

1. Inspect for poor connections at the harness connector of the rear wheel steering control module and Lat/Yaw sensor connector. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .
3. The system can have a DTC C0186 and 4-Wheel Steering will still function normally.

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1. Proportional output voltage 0.25 to 4.75 volts
2. 0 lateral accel = 2.5 volts
3. Operating range is +/- 1.5 Gs
4. Sealed self contained unit two sensors in one housing

The numbers below refer to the step numbers on the diagnostic table.

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1. 3. Table for the proper operation of the circuit in the high voltage range.
2. 4. Test for the proper operation of the circuit in the low voltage range. If the fuse in the jumper opens when you perform this test, the signal circuit is shorted to voltage.
3. 5. Test for a short to ground in the 5 volt reference circuit.

The scan tool will report zero yaw rate as 2.5 Volts without a sensor bias present. The sensor bias compensates for electronic signal errors, temperatures changes and manufacturing differences. With the vehicle at rest the voltage should be 2.5 volts.

1. The fault is detected when the ignition is ON.
2. The vehicle speed is greater than 5 km/h (3 mph).

The yaw rate input voltage is less than 0.15 Volts or greater than 4.85 Volts for less than 1 second.

1. The code is displayed on the scan tool as DTC C0196.
2. The rear wheel steering system remains functional.

1. The conditions for the DTC are not currently present.
2. The rear wheel steering control module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignitions cycles.

1. Inspect for poor connections at the harness connector of the rear wheel steering control module and Yaw Rate sensor/Lateral Accelerometer sensor connector. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .
3. The system can have DTC C0196 and 4-Wheel Steering will still function normally.

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1. O yaw = 2.5 volts
2. Proportional output voltage is 0.25 to 4.75 volts
3. Output is used to determine Direction of Rotation (Which Way) Rate of Rotation (How Fast)
4. Unit is sealed
5. Output Cannot Determine Absolute Position

The numbers below refer to the step numbers on the diagnostic table.

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1. 3. Tests for the proper operation of the circuit in the high voltage range.
2. 4. Tests for the proper operation of the circuit in the low voltage range. If the fuse in the jumper opens when you perform this test, the signal circuit is shorted to voltage.
3. 5. Tests for a short to ground in the 5 Volt reference circuit.

The steering position sensor provides 3 digital signal inputs and 1 analog signal inputs to the rear wheel steering control module. The 3 digital signals are

1. Phase A
2. Phase B
3. Index pulse

The analog signal is the steering wheel position signal. This is a class 2 signal from the TBC.

The rear wheel position sensor provides 2 discreet analog signal inputs to the rear wheel steering control module. These inputs are

1. Rear wheel position 1 signal
2. Rear wheel position 2 signal

The rear wheel steering control module compares the differences between the steering wheel position sensor and the rear wheel position sensor. If the difference exceeds the internal values in the rear wheel steering control module than C0253 will set.

1. The ignition is ON.
2. Performing the alignment procedure.

1. A valid alignment was not performed.
2. The steering wheel sensor analog voltage is out of valid alignment range, which is within 2.0-3.0 volts.
3. The steering wheel sensor marker pulse is out of valid alignment range, and the steering wheel sensor index switch points are not between + or - 10° of center.
4. The rear sensor analog voltage out of valid alignment range: The scan tool data parameter rear wheel centering 1 is not within 2.0-3.0 volts. The scan tool data parameter rear wheel centering 2 is not within 2.0-3.0 volts.

1. The Service 4 Wheel Steer indicator on IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0253.
3. The output command to the motor is zeroed. The motor drive circuits are disabled using commands to open the power relay, and to close the motor shorting relay.
4. The rear wheels will be returned to the centered position.

1. The condition for the DTC is not currently present.
2. The module receives a clear code command from the scan tool.
3. The history DTC clears after 100 malfunction free ignition cycles.
4. A valid alignment is performed.

1. Inspect for poor connections at the harness connector of the rear wheel steering control module, rear wheel position sensor and the steering wheel position sensor. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .

Steering Wheel Position Sensor - Digital Signal

1. 3 outputs used (Phase A, Phase B, Index Pulse)
2. Phase A & Phase B
3. Offset PWM wave forms created when turning the wheel
4. Index pulse Signal is present only when steering wheel is within 10 degrees either side of center

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1. This is a class 2 message from the TBC
2. Voltage is at or near 2.5 volts with wheels at center
3. Voltage increases/decreases for less than one full turn (+/- 225 Degrees), then plateaus for the remainder of the travel

The number below refers to the step number on the diagnostic table.

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1. 2. This step verifies there was an improper rear wheel steering alignment performed.

The steering wheel position sensor (SWPS) provides one analog signal and 3 digital signals. The digital signals, Phase A, Phase B and marker pulse, are direct inputs to the rear wheel steering control module. The analog signal is input to the BCM and is sent via a class 2 message to the rear wheel steering control module. Battery voltage is supplied to the sensor from the cruise fuse to operate the digital portion of the sensor.

A 12-volt reference is provided by the rear wheel steering control module to the Phase A, Phase B, and marker pulse circuits of the SWPS. The module monitors each circuit as it is either remains high or is pulled low by the SWPS.

The scan tool displays the Phase A and Phase B data parameters as either HIGH or LOW when the steering wheel is being rotated. Each change from HIGH to LOW, or LOW to HIGH, represents one degree of steering wheel rotation. When observing the Phase A and Phase B data with the scan tool, the parameters will not always display the same value at the same time.

The marker pulse is a digital pulse signal that is displayed as HIGH by the scan tool with the steering wheel angle between +10 degrees and -10 degrees. At greater than 10 degrees steering wheel angle in either direction, the marker pulse data will be displayed as LOW.

The BCM provides the 5-volt reference and low reference for the analog portion of the SWPS. The BCM reads the SWPS analog signal in voltage, which is typically 2.5-volt with the steering wheel on center. The voltage ranges from 0.25-volt at approximately 1 full turn left to 4.75-volt at approximately 1 full turn right. The voltage will then remain at that level for the remainder of steering wheel travel. This voltage can be monitored in BCM data display.

The rear wheel steering control module receives the analog signal via a class 2 message from the BCM. When monitoring the rear wheel steering data, this information is displayed in the Steering Wheel Angle (TBC) Data parameter, and is shown in degrees. The range of the display is +/- 225 degrees, with negative numbers representing steering input to the left, and positive numbers representing input to the right.

Turn ON the ignition, with engine ON.

1. A condition that sets a BCM DTC C0472 or C0473 is present.
2. The marker pulse signal was low at less than +/-10 degrees of steering wheel angle and the steering wheel angle has changed more than 30 degrees.
3. The marker pulse signal was high at greater than +/-10 degrees of steering wheel angle and the steering wheel angle has changed more than 30 degrees.
4. No change in Phase A or Phase B signals and the steering wheel angle has changed more than 30 degrees.
5. The SWPS Phase A, Phase B, or marker pulse circuits have an open, short to ground, or short to battery voltage.

1. The Service 4-Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0455.
3. The output to the motor is ramped down slowly, at a rate of 2 degrees per second to 0 degrees and held.
4. The rear wheels will be returned to the centered position.
5. The internal power relay of the rear wheel steering control module is turned off, which in turn shuts down the 12-volt reference to the SWPS. This results in all digital signals being displayed as low by the scan tool. Battery voltage and hall sensor reference voltage will also display low voltage. This occurs only when the DTC is current.

1. Conditions for DTC are not currently present.
2. The module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

Important: When the DTC is current, the internal power relay of the rear wheel steering control module is turned OFF, which in turn shuts down the 12-volt reference to the SWPS. This results in all digital signals being displayed as low by the scan tool. Battery voltage and hall sensor reference voltage will also display low voltage. Cycling the ignition will cause the DTC to become a history code. When the DTC is a history code, the power relay is ON with ignition ON, and the 12-volt reference is supplied to the SWPS. During diagnosis, any steps that require monitoring data must be performed when the code is not current. Monitoring data while the DTC is current will result in inaccurate data being displayed, and misdiagnosis will result.

The following conditions are possible causes

1. A class 2 communication problem with the TBC.
2. The steering wheel was rotated with the steering gear disconnected.
3. A malfunctioning steering wheel position sensor is present.
4. A steering wheel position sensor circuit is open.
5. A steering wheel position sensor circuit was shorted.

Perform an inspection of the wiring and of the connectors. Failure to carefully inspect the wiring and the connectors may result in misdiagnosis. Misdiagnosis causes part replacement with reappearance of the malfunction.

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1. 3 outputs used (Phase A, Phase B, Index Pulse)
2. Phase A & Phase B Offset PWM wave forms created when turning the wheel
3. Index pulse Signal is present only when steering wheel is within degrees either side of center Output is used to determine Direction of Rotation and Rate of Rotation

The numbers below refer to the step numbers on the diagnostic table.

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1. 3. This step will help determine if the fault is in the analog or the digital portion of the SWPS.
2. 4. This step determines if the condition is currently present.
3. 6. This step will help determine if a short to voltage exists in any of the digital circuits. A short to voltage in any of these circuits will cause all parameters to remain high.
4. 14. This step checks for proper voltage to the phase A and Phase B circuits at the sensor and for proper operation of the sensor.
5. 15. This step checks for proper voltage to the marker pulse circuit of the sensor and for proper operation of the sensor.
6. 17. This step checks for proper operation of the sensor circuits by testing the sensors ability to switch a voltage signal between high and low.

The steering wheel position sensor (SWPS) provides one analog signal and 3 digital signals. The digital signals, Phase A, Phase B and marker pulse, are direct inputs to the rear wheel steering control module. The analog signal is input to the BCM and is sent via a class 2 message to the rear wheel steering control module. Battery voltage is supplied to the sensor from the cruise fuse to operate the digital portion of the sensor.

A 12-volt reference is provided by the rear wheel steering control module to the Phase A, Phase B, and marker pulse circuits of the SWPS. The module monitors each circuit as it is either remains high or is pulled low by the SWPS

The scan tool displays the Phase A and Phase B Data parameters as either HIGH or LOW when the steering wheel is being rotated. Each change from HIGH to LOW, or LOW to HIGH, represents one degree of steering wheel rotation. When observing the Phase A and Phase B data with the scan tool, the parameters will not always display the same value at the same time.

The marker pulse is a digital pulse signal that is displayed as HIGH by the scan tool with the steering wheel angle between +10 degrees and -10 degrees. At greater than 10 degrees steering wheel angle in either direction, the marker pulse data will be displayed as LOW.

The BCM provides the 5-volt reference and low reference for the analog portion of the SWPS. The BCM reads the SWPS analog signal in voltage, which is typically 2.5-volt with the steering wheel on center. The voltage ranges from 0.25-volt at approximately one full turn left to 4.75-volt at approximately one full turn right. The voltage will then remain at that level for the remainder of steering wheel travel. This voltage can be monitored in BCM data display.

The rear wheel steering control module receives the analog signal via a class 2 message from the BCM. When monitoring the rear wheel steering data, this information is displayed in the Steering Wheel Angle (TBC) Data parameter, and is shown in degrees. The range of the display is +/- 225 degrees, with negative numbers representing steering input to the left, and positive numbers representing input to the right.

The ignition is ON.

The BCM detects that the analog steering signal circuit is an open, shorted to ground or shorted to voltage.

The BCM sends a serial data message reporting the failed steering signal.

1. A current DTC will clear when the malfunction is no longer present.
2. A history DTC will clear after 100 consecutive malfunction free ignition cycles or when the scan tool Clear DTCs function is used.

Thoroughly inspect connections or circuitry that may cause an intermittent malfunction. Refer to TESTING FOR ELECTRICAL INTERMITTENTS , TESTING FOR INTERMITTENT AND POOR CONNECTIONS , WIRING REPAIRS and CONNECTOR REPAIRS in Wiring Systems.

The numbers below refer to the step numbers on the diagnostic table.

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1. 3. This step test the circuitry in the high voltage range.
2. 4. This step test the circuitry in the low voltage range.
3. 5. This step tests the low reference circuit of the steering wheel position sensor.

This circuit monitors the rear position sensor signals for an out-of-specified operating range in IGNITION and RUN. The rear wheel position sensor has 2 signal circuits: position 1 and position 2. Position 1 is a linear measurement of voltage per degree. The voltage range for position 1 is from 0.25 to 4.75 volts, and the angular measurement range is from - 600° to + 600 °. At 0.25 volts the steering wheel has been rotated - 600 ° past center. At 4.75 volts the steering wheel has been rotated + 600 ° past center.

Position 2 circuit is a linear measurement of voltage per degree. The voltage for position 2 increases or decreases from 0.25 to 4.75 volts every 180 °, which is a half steering wheel rotation. When the steering wheel is 0° or at center, position 1 and position 2 output signals measure 2.5 volts respectively.

The ignition must be ON with the engine ON.

1. Position A signal or position B signal circuit on the rear position sensor must be less than 0.075 volts.
2. Position A signal or position B signal circuit on the rear position sensor must be greater than 4.925 volts.
3. The 5 volt reference circuit is open or shorted to ground.
4. The position sensor ground circuit is open.

1. The Service 4 Wheel Steer indicator in IPC will be displayed
2. The code is displayed on the scan tool as DTC C0522.
3. The output command to the motor is zeroed. The motor drive circuits are disabled using commands to open the power relay, and to close the motor shorting relay.
4. The rear wheels will be returned to the centered position.

1. Conditions for DTC are not currently present.
2. The module receives a clear code command from the scan tool.
3. A history DTC clears after 100 malfunction free ignition cycles.

Scheme 44

1. Use a DMM to check supply voltage.
2. Use a DMM to measure the resistance. If the resistance at any of the items listed below are not in the specified range, replace the rear position sensor. The resistance between the position 1 and the sensor ground circuit is 1720 ohms. The resistance between the position 1 and the 5 volt reference circuit is 1700 ohms. The resistance between the position 2 and the sensor ground circuit is 1780 ohms. The resistance between the position 2 and the 5 volt reference circuit is 1000 ohms. The resistance between the 5 volt reference circuit and the sensor ground circuit is 1780 ohms.
3. When the supply voltage is open or shorted to ground, position 1 and position 2 data parameter show 0 volts on the scan tool.
4. When the ground circuit is open, position 1 and position 2 data parameter show 5 volts on the scan tool.
5. Using the data display menu verify that the rear wheel position 1 has an output voltage range between 0.25-4.75 volts.
6. Using the data display menu verify that the rear wheel position 2 has an output voltage range between 0.25-4.75 volts.
7. Use a DMM to check resistance at the rear wheel position sensor. When the steering wheel is centered, the resistance between the rear wheel position sensor position 1 or position 2 signal and rear wheel position sensor ground is approximately 1,500 ohms.
8. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) and to «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs)
9. Inspect the rear wheel position sensor for damage. If none is found then remove and inspect the sensor and coupler for damage or water intrusion. Refer to «Rear Position Sensor Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) . If water damage is found, refer to «Rack and Pinion Boot Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
10. Rear Wheel Position Sensor Voltage-Rear Wheel Position Sensor Voltage 2 is at 2.5 volt when centered.
11. Rear Wheel Position Sensor
12. Rear Position Sensor Voltages

The numbers below refer to the step numbers on the diagnostic table.

Scheme 45

Scheme 46

1. This step requires the technician to perform the diagnostic procedure for the control module.
2. The minimum high limit is the value of voltage above which the code will set. The maximum low limit is the value of voltage below which the code will set.
3. Test for the proper operation of the position 1 or position 2 circuit in the high voltage range. Use a connector test adaptor kit in order to jumper the connections between the rear position sensor and the harness connector.
4. Test for the proper operation of the position 1 or position 2 circuit in the high voltage range.
5. Test for short to ground in the 5 volt reference circuit.

The rear steering gear motor is a 3 phase DC motor. It has 3 hall effect switches inside the motor assembly. The rear wheel steering control module monitors the hall switches for proper switch position, and will shut down the system if a invalid switch combination is detected. A DTC C0527 will set at that time.

The ignition must be ON with the engine ON.

1. When hall 1, hall 2, and hall 3 circuits have 12 volts as their output, simultaneously, the rear steering motor is not in a recognized, valid position by the rear wheel steering module.
2. When hall 1, hall 2, and hall 3 circuits have 0 volts as their output, simultaneously, the rear steering motor is not in a recognized, valid position by the rear wheel steering module.
3. The hall sensor supply circuit is open.
4. The hall sensor ground circuit is open.

1. The Service 4 Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0527.
3. The output command to the motor is zeroed and the motor drive circuits are disabled using commands from the rear wheel steering control module to open the motor shorting relay.
4. The rear wheels will be returned to the centered position.

1. Conditions for the DTC are not present.
2. The module receives a clear code command from the scan tool.
3. The history DTC clears after 100 malfunction-free ignition cycles.

If the wiring harness to the steering gear motor is damaged in any way, it MUST be replaced. You can only service the connectors and terminals.

Use a scan tool to monitor the outputs of the hall-affect sensor 12 volt reference circuit. If the voltage of this circuit does not measure between 11.75-12.00 volts, inspect the harness connector of the rear wheel steering control module. Inspect the harness connector for intermittent or poor connections. Refer to TESTING FOR INTERMITTENT AND POOR CONNECTIONS and to CONNECTOR REPAIRS in Wiring Systems.

The numbers below refer to the step numbers on the diagnostic table.

Scheme 47

1. 2. This step helps the technician determine if the fault is current.
2. 3. This step determines if the DTC is the result of an intermittent connection at the control module.

The rear wheel steering module monitors the input signal of the rear wheel position sensor and the hall sensor circuits. The rear wheel steering module tracks the signals sent by the rear wheel position sensor and the hall sensor circuits, phase A, phase B, and phase C. If any one of the hall sensor circuits are open, shorted to voltage or shorted to ground while the rear steering motor is tracking the rear wheel position sensor, an invalid motor position will occur, thus setting the DTC.

If the rear wheel position sensor signals have invalid values the rear wheel steering control module will not be able to track the position of the rear wheel position sensor, causing an invalid motor position, thus setting the DTC.

The fault is detected when the ignition is ON and the engine is ON.

Comparison of the rear position sensor and the rear wheel position differ by more than 1.4 °.

1. The Service 4 Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0532.
3. The output command to the motor is zeroed.
4. The motor drive circuits are disabled using commands to open the power relay, and to close the motor shorting relay.
5. The rear wheels are returned to the centered position.

1. The conditions for setting the DTC are not currently present.
2. The rear wheel steering control module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

1. Inspect for poor connections at the harness connector of the rear wheel steering control module, rear wheel position sensor and the rear wheel steering motor connectors. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) , and to «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Inspect the rear wheel position sensor for damage. If none is found then remove and inspect the sensor and coupler for damage or water intrusion. Refer to «Rear Position Sensor Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) . If water damage is found, refer to «Rack and Pinion Boot Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
3. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel)

The numbers below refer to the step numbers on the diagnostic table.

Scheme 48

1. 2. This step tests for the proper operation of the rear steering position sensor.
2. 3. This step tests for the proper operation of the rear steering motor position sensor.
3. 4. This step performs the diagnostic procedure for the rear steering position sensor.
4. 5. This step performs the diagnostic procedure for the rear steering motor position sensor.

The rear wheel steering control module controls a normally closed relay that shorts the motor phase leads. The relay is part of the rear wheel steering actuator motor assembly and cannot be serviced separately from the motor assembly. The motor assembly can be serviced separately from the rear wheel steering actuator.

1. The ignition is ON.
2. The rear wheel steering control module is in START-UP/INITIALIZATION.

1. The DTC is set when the shorting relay is stuck open, commanded vs. actual.
2. The DTC is set when the shorting relay is stuck closed, commanded vs. actual.

1. The Service 4 Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0533.
3. The output command to the motor is zeroed. The motor drive circuits are disabled using commands to open the power relay, and to close the motor shorting relay.
4. The rear wheels will be returned to the default centered position.

Scheme 49

1. The conditions for setting the DTC are not currently present.
2. The rear wheel steering control module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

The rear wheel steering module provides the current that activates the rear wheel steering motor actuator control circuits. Phase A, Phase B, and Phase C are the input circuits to the steering gear motor assembly. In its active state, the output current is pulse width modulated with up to 85-amps at 12 volts, with a normal range of 20 to 50-amps. When the rear wheel steering control module does not see the rear wheel steering gear motor respond to the current inputs properly the rear wheel steering control module will set a DTC C0538.

The fault is detected when the engine is ON.

1. Rear steering motor circuits short to positive battery voltage
2. Rear steering motor circuits short to ground
3. Rear steering motor circuits open

1. The Service 4 Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0538.
3. The output command to the motor is zeroed. The motor drive circuits are disabled using commands to open the power relay and to close the motor shorting relay.
4. Rear wheels returned to the centered position.

1. The conditions for the DTC are not currently present.
2. The rear wheel steering control module receives a clear code command from the scan tool.
3. The history DTC clears after 100 malfunction free ignition cycles.

1. Inspect for poor connections at the harness connector of the rear wheel steering control module and inspect the wiring harness. Refer to «TESTING FOR INTERMITTENT AND POOR CONNECTIONS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__testing-for-intermittent-and-poor-connections) , and to «CONNECTOR REPAIRS»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__connector-repairs) in Wiring Systems.
2. Observe the rear wheel steering mode select switch. If all of the mode indicator LEDs are illuminated the rear wheel steering control module has lost its memory settings and the scan tool must be used to re-calibrate the rear wheel steering alignment data in the rear wheel steering control module. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .

The numbers below refer to the step numbers on the diagnostic table.

Scheme 50

1. 2. This step will help the technician determine if there is an intermittent connection at the harness connector of the rear wheel steering motor.

When the engine is ON, the rear wheel steering control module monitors the position of the front and rear wheels. When the system is commanding a rear wheel angle and, due to mechanical binding, the rear actuator does not achieve the desired position a servo error fault is generated, thus setting a DTC C0543.

1. The engine is ON.
2. The vehicle speed must be greater than 5 km/h (3 mph).

Comparison of commanded rear position to actual is greater than 3 degrees.

1. The Service 4-Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on the scan tool as DTC C0543.
3. The output command to the motor is zeroed and the motor drive circuits are disabled using commands to open the power relay and close the motor shorting relay.
4. The rear wheels are returned to the default centered position.

1. The conditions for setting the DTC are not currently present.
2. The rear Wheel steering control module receives clear code command from the scan tool.
3. The history DTC clears after 100 malfunction free ignition cycles.

Inspect for objects or damage that may restrict movement of the rear wheels, or damage to the rear wheel steering gear.

The numbers below refer to the step numbers on the diagnostic table.

Scheme 51

1. 2. This step begins the procedure that will allow the technician to determine the components responsible for setting DTC C0543.
2. 3. This step will help determine if there are objects caught in the rear wheels.

When the ignition switch is turned ON, the rear wheel steering control module monitors communications between its internal microprocessors and performs self-diagnostic tests. If an internal malfunction is detected, the rear wheel steering control module will store a DTC C0550 in its memory.

Turn the ignition switch to the ON position, with engine ON.

1. The rear wheel steering control module detected an internal malfunction.
2. The malfunction must be detected when the ignition switch is first turned ON.

1. The Service 4-Wheel Steer indicator in IPC will be displayed.
2. The code is displayed on scan the tool as DTC C0550.
3. The output command to the motor is zeroed. The motor drive circuits are disabled using commands from the rear wheel steering control module to open the power relay.
4. The rear wheels will be returned to the default centered position.

1. Conditions for the DTC are not currently present.
2. The module receives a clear code command from the scan tool.
3. The DTC clears after 100 malfunction free ignition cycles.

Scheme 52

Scheme 53

1. Any additional codes displayed with DTC C0550 should be diagnosed and repaired first.
2. The rear wheel steering control module tests for multiple internal malfunctions and will store a DTC C0550 if one or more internal malfunctions are detected. Therefore, depending on which malfunction was detected, and what internal circuitry was affected, this DTC may cause various symptoms.
3. Any condition resulting in the sensor supply voltage being pulled high or low could result in an erroneous DTC C0550.
4. A fault in the battery positive voltage circuit from the 125A MEGA fuse can result in an erroneous DTC C0550.

Important: The following steps must be completed before using the symptom tables

1. Perform the Rear Wheel Steering Diagnostic System Check before using the symptom tables in order to verify that the following conditions are true: DTCs are not set. The control modules can communicate via the serial data link.
2. Review the system description and operation in order to familiarize yourself with the system functions. Refer to «Rear Wheel Steering Description and Operation»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system__rear-wheel-steering-description-and-operation) .

Visual/Physical Inspection

1. Inspect for aftermarket devices which could affect the operation of the Rear Wheel Steering System. Refer to «CHECKING AFTERMARKET ACCESSORIES»(/cadillac/escalade/gmt800-2001-2006/remont/body-electrical/#wiring-systems-general-information__checking-aftermarket-accessories) in Wiring Systems.
2. Inspect the easily accessible or visible system components for obvious damage or conditions which could cause the symptom.

Intermittent

Faulty electrical connections or wiring may be the cause of intermittent conditions. Refer TESTING FOR INTERMITTENT AND POOR CONNECTIONS in Wiring Systems.

Symptom List

Refer to a symptom diagnostic procedure from the following list in order to diagnose the symptom

1. «One or Multiple Rear Wheel Steering Mode Switch Indicators Always On»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system)
2. «One or Multiple Rear Wheel Steering Mode Switch Indicators Inoperative»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system)

The rear wheel steering control module controls the ground circuit of each mode indicator lamp individually. The lamps all share a single common input from the interior lights dimming circuit.

Inspect all connections at the rear wheel steering control module and the rear wheel steering mode select switch for loose or damaged terminals or damaged wiring. Use of the Rear Wheel Steering Diagnostic System Check will help ensure there are not other conditions or DTCs.

The numbers below refer to the step numbers in the diagnostic table.

Scheme 54

1. 2. This step verifies that there are no other lighting concerns.
2. 3. This step will verify the operation of the mode lamps and the Rear Wheel Steering systems ability to change mode of operation.

The rear wheel steering control module controls the ground circuit of each mode indicator individually. The lamps all share a single common input from the interior lights dimming circuit.

Inspect all connections at the rear wheel steering control module and the rear wheel steering mode select switch for loose or damaged terminals or damaged wiring. Use of the Rear Wheel Steering Diagnostic System Check will help ensure there are not other conditions or DTCs.

The numbers below refer to the step numbers in the diagnostic table.

Scheme 55

Scheme 56

1. 2. This step verifies that there are no other lighting concerns
2. 3. This step will verify the operation of the mode lamps and the Rear Wheel Steering systems ability to change mode of operation.

Scheme 57

1. Remove the dash trim bezel. Refer to «BEZEL REPLACEMENT - INSTRUMENT PANEL (I/P) CLUSTER»(/cadillac/escalade/gmt800-2001-2006/remont/gauges-instrument-panels/#instrument-panel-gages-and-console) in Instrument Panel, Gages and Console.
2. Grasp the rear wheel steering mode switch housing (2) and pull outward to remove the switch assembly.
3. Disconnect the electrical connector (3) from the rear wheel steering mode switch.
4. Remove the rear wheel steering mode switch assembly (1) from the vehicle.

Scheme 58

1. Reconnect the rear wheel steering mode switch (3) electrical connectors.
2. Install the rear wheel steering mode switch (1) into the dash.
3. Reinstall the dash trim bezel. Refer to «BEZEL REPLACEMENT - INSTRUMENT PANEL (I/P) CLUSTER»(/cadillac/escalade/gmt800-2001-2006/remont/gauges-instrument-panels/#instrument-panel-gages-and-console) in Instrument Panel, Gages and Console.

Tools Required

J 24319-B Universal Steering Linkage Puller

Removal Procedure

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 59

Scheme 60

Scheme 61

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the tie rod bracket (2) retaining bolts (1) from the steering knuckle.
4. Loosen the tie rod jam nut (1).
5. Remove the nut retaining the outer tie rod end to the steering knuckle.
6. Using the J 24319-B (1), remove the outer tie rod end from the steering knuckle.
7. Remove the outer tie rod end from the inner tie rod.

Scheme 62

1. Install the outer tie rod end to the inner tie rod.
2. Install the outer tie rod end to the steering knuckle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
3. Install the outer tie rod end retaining nut to the steering knuckle. Tighten Tighten the nut to 55 N.m (40 lb ft).
4. Install the outer tie rod end retaining bracket (2). Tighten Tighten the retaining bolts to 65 N.m (48 lb ft).
5. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
6. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

1. J 44665-2 Inner Tie Rod Wrench
2. J 44665-1 Inner Tie Rod Wrench

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 63

Scheme 64

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the rack and pinion boot from the steering gear. Refer to «Rack and Pinion Boot Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) . Important: The inner tie rod support clamp has right hand threads. The inner tie rod support nut has left hand threads. To remove the support clamp turn the clamp counterclockwise.
4. Using the J 44665-1 (1) and J 44665-2 (2) remove the inner tie rod support clamp.
5. Remove the inner tie rod (1) from the steering gear using the J 44665-2 (2).

Scheme 65

Scheme 66

1. Install the inner tie rod to the steering gear. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Using the J 44665-2 (2) tighten the inner tie rod (1). Tighten Tighten the inner tie rod to 100 N.m (74 lb ft).
3. Install the inner tie rod support clamp to the steering gear. Use the J 44665-1 (1) and the J 44665-2 (2) in order to tighten the inner tie rod support clamp. Tighten Tighten the inner tie rod support clamp to 25 N.m (18 lb ft).
4. Install the rack and pinion boot to the steering gear. Refer to «Rack and Pinion Boot Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
5. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
6. Lower the vehicle.
7. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

J 22610 Keystone Clamp Pliers

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 67

Scheme 68

Scheme 69

Scheme 70

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the outer tie rod from the vehicle. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
3. Remove the tie rod jam nut (2) from the inner tie rod.
4. Remove the rack and pinion boot protector (1) from the rack and pinion boot (2), if equipped.
5. Remove the outer clamp (1) retaining the boot (2) to the steering gear.
6. Remove the inner clamp (1) retaining the boot to the steering gear. Important: Check the boot for damage by using a light and flexing the boot to inspect for wear. If the boot is damaged replace the steering gear actuator. Refer to «Steering Gear Actuator and Cover Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
7. Remove the boot from the steering gear.

Installation Procedure

Important: Make sure the rack and pinion boot is seated in the groove (2) on the steering gear actuator.

Scheme 71

Scheme 72

Scheme 73

Scheme 74

Scheme 75

1. Install the boot to the steering gear.
2. Install the outer clamp (1) retaining the boot (2) to the steering gear.
3. Install the inner clamp (3) retaining the boot (2) to the steering gear.
4. Using the J 22610 , crimp the retaining clamp (1) to the steering gear.
5. Install the rack and pinion boot protector (1) to the rack and pinion boot (2), if equipped.
6. Install the tie rod jam nut (2) to the inner tie rod.
7. Install the outer tie rod. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
8. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) .

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 76

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Unsnap the locking tabs on the rack and pinion boot protector (1).
3. Remove the rack and pinion boot protector (1) from the rack and pinion boot (2).

Scheme 77

1. Install the rack and pinion boot protector (1) to the rack and pinion boot (2).
2. Snap the locking tabs together on the rack and pinion boot protector.
3. Lower the vehicle.

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 78

Scheme 79

Scheme 80

Scheme 81

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the spare tire from the vehicle.
3. Remove the bolts (1) retaining the steering gear motor (2) to the steering gear.
4. Remove the steering gear motor from the steering gear.
5. Cover the steering gear motor opening to keep contamination out of the oil in the planetary gear assembly.
6. Remove the wiring harness from the retaining clips.
7. Disconnect the wiring harness from the control module (2).
8. Disconnect the electrical connector (1) from the rear position sensor.
9. Remove the steering gear motor and wiring harness from the vehicle.

Important: Make sure the O-ring is seated in the O-ring groove.

Scheme 82

Scheme 83

Scheme 84

Scheme 85

Scheme 86

1. Install the O-ring seal (1) to the steering gear.
2. Install the steering gear motor (2) to the vehicle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
3. Install the bolts (1) retaining the steering gear motor (2) to the steering gear. Tighten Tighten the 6 mm (0.24 in) steering gear motor retaining bolts to 10 N.m (89 lb in). Tighten Tighten the 4 mm (0.16 in) steering gear motor retaining bolts to 4 N.m (35 lb in). Important: Route the wiring harness in the same location as the wiring was removed.
4. Connect the electrical connectors to the control module (2).
5. Connect the electrical connector (1) to the rear position sensor.
6. Connect the wire harness retaining clips.
7. Install the spare tire to the vehicle.
8. Lower the vehicle.

Scheme 87

Scheme 88

1. Remove the passenger seat from the vehicle. Refer to «SEAT REPLACEMENT - FRONT BUCKET»(/cadillac/escalade/gmt800-2001-2006/remont/seats/#seat-system) .
2. Pull the carpet back to gain access to the sensor.
3. Remove the nuts retaining the yaw rate sensor/lateral accelerometer (2) to the vehicle.
4. Disconnect the electrical connector from the yaw rate sensor/lateral accelerometer.
5. Remove the yaw rate sensor/lateral accelerometer from the vehicle.

Important: Use care not to bend or distort the bracket that supports the yaw rate sensor/lateral accelerometer.

Scheme 89

Scheme 90

1. Install the yaw rate sensor/lateral accelerometer to the vehicle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the nuts retaining the yaw rate sensor/lateral accelerometer (2) to the vehicle. Tighten Tighten the nuts to 10 N.m (89 lb in).
3. Connect the electrical connector (3) to the yaw rate sensor/lateral accelerometer.
4. Install the carpet.
5. Install the passenger seat to the vehicle. Refer to «SEAT REPLACEMENT - FRONT BUCKET»(/cadillac/escalade/gmt800-2001-2006/remont/seats/#seat-system) .
6. Complete the lateral accelerometer procedure. Learn Lateral Accelerometer Procedure Turn the ignition ON. Install the scan tool. Go to Rear Wheel Steering menu choice in the scan tool. Go to Special Functions menu choice in the scan tool. Go to Learn Lateral Accelerometer menu choice in the scan tool and complete the procedure.

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 91

Scheme 92

Scheme 93

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the steering gear protection shield (1) retaining bolts (3).
3. Disconnect the electrical connector (1). NOTE: When removing the rear position cover from the steering gear be careful not to damage to the rear position sensor.
4. Remove the rear wheel position sensor cover (4) from the steering gear by prying on the cover using the slot.
5. Remove the rear wheel position sensor retaining bolts (3). Important: Check the inner tie rod boot for wear or damage.
6. If the boots are damaged replace the steering gear actuator. Refer to «Steering Gear Actuator and Cover Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) . Important: Maintain the sensor position. Do not turn the sensor.
7. Remove the rear wheel position sensor (2) from the steering gear.

Important: Make sure the O-ring (1) is installed.

Scheme 94

Scheme 95

Scheme 96

1. Install the rear wheel position sensor (2) to the steering gear. Important: Be careful to maintain the position of the replacement sensor.
2. Remove the pin retaining the position of the new sensor and immediately install the sensor to the steering gear. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
3. Install the rear wheel position sensor retaining bolts. Apply LOCTITE 242 blue. Tighten Tighten the bolts to 4 N.m (35 lb in).
4. Install the rear wheel position sensor cover (4).
5. Connect the electrical connector (1).
6. Install the steering gear protection shield (1) and retaining bolts (3). Tighten Tighten the steering gear protection shield retaining bolts to 180 N.m (132 lb ft).
7. Lower the vehicle.
8. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 97

Scheme 98

Scheme 99

Scheme 100

Scheme 101

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the drain plug (2) and drain the fluid from the differential housing.
4. Remove the bolts (3) retaining the steering gear protection shield.
5. Disconnect the electrical connectors from the control module (2).
6. Disconnect the electrical connector (1) from the rear position sensor.
7. Remove the outer tie rod ends from the steering knuckle. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
8. Disconnect the differential vent hose (1) from the vent tube (2).
9. Remove the bolts retaining the steering gear actuator and cover (2) to the differential (1).
10. Remove the steering gear actuator and cover from the vehicle.

Important: Clean all of the sealing surfaces prior to installing the gasket. Do not reinstall the old gasket, replace the gasket whenever the actuator is removed from the axle.

Scheme 102

Scheme 103

Scheme 104

Scheme 105

Scheme 106

1. Install the steering gear actuator (2) and gasket (1) to the differential. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the steering gear actuator and cover (2) retaining bolts. Tighten Tighten the bolts to 61 N.m (45 lb ft).
3. Connect the electrical connectors to the control module (2).
4. Install the differential vent hose (1) to the vent tube (2).
5. Install the outer tie rod ends to the steering knuckle. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
6. Install the drain plug (2) and fill the differential with fluid. Refer to «LUBRICANT LEVEL INSPECTION -- REAR DRIVE AXLE (8.6 INCH AXLE)»(/cadillac/escalade/gmt800-2001-2006/remont/differentials-drive-axles/#rear-drive-axle) or «LUBRICANT LEVEL INSPECTION -- REAR DRIVE AXLE (9.5, 10.5 INCH AXLE)»(/cadillac/escalade/gmt800-2001-2006/remont/differentials-drive-axles/#rear-drive-axle) or «LUBRICANT LEVEL INSPECTION -- REAR DRIVE AXLE (9.75 INCH AXLE)»(/cadillac/escalade/gmt800-2001-2006/remont/differentials-drive-axles/#rear-drive-axle) in Rear Drive Axle.
7. Install the bolts (3) retaining the steering gear protection shield. Tighten Tighten the bolts to 180 N.m (132 lb ft).
8. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
9. Lower the vehicle.
10. Check the wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

1. J 44664 Upper Ball Joint Nut Remover
2. J 44663 Upper Ball Joint Remover

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 107

Scheme 108

Scheme 109

Scheme 110

Scheme 111

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the bolt (8) and nut (2) retaining the bracket to the axle.
4. Remove the bracket (7) from the vehicle.
5. Remove the bolt (4) retaining the brake hose bracket (3) to the axle.
6. Using the J 44664 (2), remove the nut (1) retaining the upper ball joint to the steering knuckle.
7. Remove the upper ball joint (3) retaining bolts (2) and stud (1).
8. Using the J 44663 (2), remove the upper ball joint stud from the steering knuckle.
9. Remove the upper ball joint (1) from the vehicle.

Scheme 112

Scheme 113

Scheme 114

Scheme 115

1. Install the upper ball joint (1) to the steering knuckle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the upper ball joint retaining bolts (2) and stud (1). Tighten Tighten the bolts to 110 N.m (81 lb ft).
3. Install the nut (1) retaining the upper ball joint to the steering knuckle. Use the J 44664 (2) in order to tighten the joint. Tighten Tighten the upper ball joint to the steering knuckle nut to 200 N.m (147 lb ft).
4. Install the bracket (7) to the axle.
5. Install the bolt (8) and nut (2) retaining the bracket to the axle. Tighten Tighten the bolt and nut to 25 N.m (18 lb ft).
6. Install the bolt (4) retaining the brake hose bracket (3) to the axle. Tighten Tighten the brake hose bracket retaining bolt to 12 N.m (106 lb in).
7. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
8. Lower the vehicle.
9. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 116

Scheme 117

Scheme 118

Scheme 119

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the bolt (8) and nut (2) retaining the bracket to gain access to the pinch bolt.
4. Remove the snap ring (2) from the ball joint stud (1).
5. Remove the bolts (2) retaining the lower ball joint (3) to the steering knuckle.
6. Remove the pinch bolt (1) retaining the lower ball.
7. Remove the lower ball joint (2) from the vehicle.

Scheme 120

Scheme 121

Scheme 122

Scheme 123

1. Install the lower ball joint (2) to the vehicle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the bolts (2) retaining the lower ball joint (3) to the steering knuckle. Tighten Tighten the bolts to 110 N.m (81 lb ft).
3. Install the lower ball joint pinch bolt (1). Tighten Tighten the bolt to 230 N.m (169 lb ft).
4. Install the snap ring (2) to the lower ball joint.
5. Install the bolt (8) and nut (2) retaining the bracket to the axle. Tighten Tighten the retaining bolt and nut to 25 N.m (18 lb ft).
6. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
7. Lower the vehicle.
8. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

J 24319-B Universal Steering Linkage Puller

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 124

Scheme 125

Scheme 126

Scheme 127

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the wheel hub and bearing. Refer to «Wheel Hub and Bearing Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
4. Remove the upper ball joint. Refer to «Upper Ball Joint Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
5. Remove the lower ball joint. Refer to «Lower Ball Joint Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
6. Remove the outer tie rod retaining nut and bracket (2).
7. Disconnect the outer tie rod from the steering knuckle using the J 24319-B (1).
8. Remove the park brake cable retaining bolt (3) from the steering knuckle.
9. Remove the steering knuckle (2) from the vehicle.

Scheme 128

Scheme 129

Scheme 130

1. Install the steering knuckle (2) to the vehicle.
2. Install the upper ball joint. Refer to «Upper Ball Joint Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
3. Install the lower ball joint. Refer to «Lower Ball Joint Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) . NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
4. Install the park brake cable retaining bolt (3) to the steering knuckle. Tighten Tighten the bolt to 65 N.m (48 lb ft).
5. Install the wheel hub and bearing. Refer to «Wheel Hub and Bearing Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
6. Install the outer tie rod retaining nut to the steering knuckle. Tighten Tighten the nut to 55 N.m (40 lb ft).
7. Install the outer tie rod retaining bracket (2). Tighten Tighten the bracket to 65 N.m (48 lb ft).
8. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
9. Lower the vehicle.
10. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

J 45859 Axle Remover

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 131

Scheme 132

Scheme 133

Scheme 134

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the outer tie rod from the steering knuckle. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
4. Remove the brake rotor. Refer to «REMOVAL (REAR -- ALL WITH 4-WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/mechanical-hydraulic/#disc-brakes__removal-rear-all-with-4-wheel) or «REMOVAL (REAR -- WITHOUT DUAL WHEELS & 4-WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/mechanical-hydraulic/#disc-brakes__removal-rear-without-dual-wheels) in Disc Brakes.
5. Remove the axle nut dust cover (4).
6. Remove the cotter pin (2) and retainer (3) from the wheel drive shaft nut.
7. Remove the wheel drive shaft retaining nut.
8. Remove the wheel hub and bearing retaining bolts.
9. Separate the wheel drive shaft from the wheel hub and bearing using a J 45859 (2) or equivalent.
10. Remove the wheel hub and bearing (1) from the vehicle.

Scheme 135

Scheme 136

Scheme 137

1. Install the wheel hub and bearing (3) to the vehicle.
2. Install the wheel hub and bearing retaining bolts. Tighten Tighten the bolts to 140 N.m (103 lb ft). NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
3. Install the wheel drive shaft retaining nut. Tighten Tighten the nut to 250 N.m (184 lb ft).
4. Install the retainer (3) and cotter pin (2) to the wheel drive shaft nut.
5. Install the dust cap (4).
6. Install the outer tie rod to the steering knuckle. Refer to «REAR WHEEL STEERING TIE ROD END REPLACEMENT - Outer»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
7. Install the brake rotor. Refer to «REMOVAL (REAR -- ALL WITH 4-WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/mechanical-hydraulic/#disc-brakes__removal-rear-all-with-4-wheel) or «REMOVAL (REAR -- WITHOUT DUAL WHEELS & 4-WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/mechanical-hydraulic/#disc-brakes__removal-rear-without-dual-wheels) in Disc Brakes.
8. Install the tire and wheel. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
9. Lower the vehicle.

Special Tools

J 43631 Ball Joint Remover

Scheme 138

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the tire and wheel from the vehicle. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
3. Remove the wheel hub and bearing from the vehicle. Refer to «Wheel Hub and Bearing Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
4. Using the J 43631 (1), remove the wheel stud (2) from the wheel hub.

Scheme 139

1. Install a new wheel stud to the wheel hub.
2. Using the J 43631 (1), install the wheel stud (2) to the wheel hub.
3. Install the wheel hub and bearing to the vehicle. Refer to «Wheel Hub and Bearing Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
4. Install the tire and wheel to the vehicle. Refer to «TIRE AND WHEEL REMOVAL AND INSTALLATION»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-tire-system/#tires-wheels__tire-and-wheel-removal-and-installation) in Tires and Wheels.
5. Lower the vehicle.

Scheme 140

1. Remove the rear wheel steering control module (2) from the bracket. Refer to «Rear Wheel Steering Control Module Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
2. Remove the nuts retaining the bracket to the frame.
3. Remove the bracket from the vehicle.

Scheme 141

1. Install the bracket to the vehicle. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the bracket retaining nuts. Tighten Tighten the retaining nuts to 25 N.m (18 lb ft).
3. Install the rear wheel steering control module (2) o the bracket. Refer to «Rear Wheel Steering Control Module Replacement»(/cadillac/escalade/gmt800-2001-2006/remont/electronic-steering/#rear-wheel-steering-system) .
4. Perform a learn alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

Scheme 142

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Disconnect the electrical connector from the control module.
3. Remove the nuts retaining the control module (2) to the bracket.
4. Remove the control module from the bracket (4).

Scheme 143

1. Install the control module (2) to the bracket. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the nuts retaining the control module to the vehicle. Tighten Tighten the control module retaining nuts to 25 N.m (18 lb ft).
3. Connect the electrical connectors to the control module.
4. Program the control module. Refer to
5. Perform a learn alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

Note. When lifting the vehicle do not allow the jack to touch the rear steering gear. If the jack touches the rear steering gear you may damage the gear or the rack and pinion boots. If the boots are damaged replace the rack and pinion boot.

Scheme 144

1. Raise the vehicle. Refer to «LIFTING AND JACKING THE VEHICLE»(/cadillac/escalade/gmt800-2001-2006/remont/hoistjack/#jacking-and-lifting-avalanche__lifting-and-jacking-the-vehicle) in General Information.
2. Remove the bolts (3) retaining the steering gear protection shield to the steering gear.
3. Remove the steering gear protection shield from the vehicle.

Scheme 145

1. Install the steering gear protection shield to the steering gear. NOTE: Refer to «FASTENER NOTICE»(/cadillac/escalade/gmt800-2001-2006/remont/oem-general-information/#gm-vehicles-cautions-notices__fastener-notice) in Cautions and Notices.
2. Install the steering gear protection shield retaining bolts (3) to the steering gear. Tighten Tighten the bolts to 180 N.m (132 lb ft).
3. Lower the vehicle.
4. Perform a four wheel alignment. Refer to «MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures) or «MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)»(/cadillac/escalade/gmt800-2001-2006/remont/wheel-alignment/#wheel-alignment-specifications-adjustment-procedures__measuring-wheel-alignment-without-rear-wheel) in Wheel Alignment.

Rear Wheel Steering Description and Operation

Quadrasteer TM is a 4-wheel steering system that dramatically enhances low speed maneuverability, high speed stability, and towing capability. The system is an electrically powered rear wheel steering system comprised of the following components

1. A steerable, solid hypoid rear axle.
2. A steering wheel position sensor located at the base of the steering column.
3. A rear wheel position sensor located below the rear wheel steering motor on the rear steering gear.
4. An electric motor driven actuator.
5. A flash programmable rear wheel steering control module.
6. A combined yaw rate sensor/lateral accelerometer sensor.
7. Three hall effect switches in the motor assembly.
8. A mode select switch on the dash.
9. A heavy duty wiring harness and fuse.
10. A Service 4 Wheel Steer indicator in the IPC.
11. A shorting relay in the rear wheel steering gear motor.
12. A power relay in the rear wheel steering control module.

The rear wheel steering control module has the following inputs

1. Battery voltage.
2. Switched battery voltage.
3. Rear wheel steering mode switch signal
4. Steering wheel position sensor analog, via class 2 message from the TBC.
5. Steering wheel position sensor phase A.
6. Steering wheel position sensor phase B.
7. Steering wheel position sensor marker pulse.
8. Rear wheel position sensor position 1.
9. Rear wheel position sensor position 2.
10. Vehicle speed signal
11. Class 2 data.
12. Yaw rate signal.
13. Lateral accelerometer signal.
14. Rear wheel steering motor actuator hall A.
15. Rear wheel steering motor actuator hall B.
16. Rear wheel steering motor actuator hall C.

The rear wheel steering control module has the following outputs

1. Rear wheel steering motor actuator phase A control.
2. Rear wheel steering motor actuator phase B control.
3. Rear wheel steering motor actuator phase C control.
4. Rear wheel steering motor shorting relay voltage.
5. Rear wheel steering module class 2 serial data.
6. 4-Wheel steer mode indicator supply voltage.
7. 4-Wheel steer tow mode indicator supply voltage.
8. 2-Wheel steer mode indicator supply voltage.
9. Rear wheel steering mode select switch supply voltage.
10. Steering wheel position sensor 5 volt reference.
11. Rear wheel position sensor 5 volt reference.
12. Rear wheel steering motor hall sensor 12 volt reference.
13. Rear wheel steering motor shorting relay voltage.

Separate connectors to the rear wheel steering control module are provided for the following 4 capacities

1. Vehicle battery power.
2. The vehicle class 2, steering wheel position, mode select switch, lateral accelerometer, yaw sensor, speed sensor signals.
3. The motor phase power leads.
4. The motor hall sensors, shorting relay, and rear wheel position sensor signals.

Important: Beginning with the 2003 model year, the rear wheel steering control module supports flash programming.

Rear Wheel Steering Control Module: The rear wheel steering control module controls all functions of the rear wheel steering system. The module has a dedicated power feed line from the under hood fuse holder. The fuse is a 125 amp mega fuse. The wiring is routed to the rear of the vehicle. The rear wheel steering control module is located above the rear mounted spare tire. The rear wheel steering control module uses the inputs listed above to determine when and how far to turn the rear wheels. The rear wheel steering control module also uses the hall switches in the steering gear motor, shorting relay, and motor control relay to monitor and control the direction and speed the motor operates. The rear wheel control module also controls the duty cycle of the phase leads to the motor. The motor control relay is part of the rear wheel steering control module and is not serviceable. The rear wheel steering control module uses both a class 2 and a discrete vehicle speed sensor signal. The system will not function without a discrete vehicle speed sensor signal. The rear wheel steering control module uses the 2 vehicle speed sensor signals for comparison purposes. The TBC sends a class 2 message for the analog portion of the signals from the steering wheel position sensor. The rear wheel steering control module uses inputs from the steering wheel position sensor to determine steering wheel position and rate of change. The rear wheel position sensor signals provide the rear wheel steering control module with rear wheel position data. The rear wheel steering control module will send out a class 2 message to the IPC to turn on and off the amber Service 4-Wheel Steering System Indicator. The rear wheel steering control module controls the indicators in the mode switch on the dash.

The control module allows the vehicle's rear wheels to turn a maximum of 12 degrees left or right. When the vehicle is operated in reverse, the maximum rear wheel steering angle is 5 degrees left or right. When the vehicle is sitting still in the test mode the system will move a maximum of 5 degrees left or right.

Important: The rear wheel steering control module may shut down if the system is operated under very extreme conditions and becomes overheated. The Service 4-Wheel Steer indicator will not be illuminated. Once the temperature decreases back to operating range, the rear wheel steering system will resume normal operation upon the next ignition cycle.

Rear Wheel Steering Mode Switch: The mode switch located on the instrument panel allows the driver the option of selecting 2-wheel steering, 4-wheel steering, or 4-wheel steering tow operation. The mode switch also has indicators that show which mode the rear wheel steering system is in. When all indicators are lit the rear wheel steering control module has lost it's memory settings and the scan tool must be used to re-calibrate the rear wheel steering control module. When the indicators are flashing the rear wheel steering control module is waiting for the steering wheel to pass the center position before changing to the selected mode. The indicators on the mode switch are led's, the switch is also back lit.

The system operates in 3 principal modes, as follows

2-Wheel Steer Mode: Normal steering operation; rear wheel steering is disabled while in this mode.

4-Wheel Steer Mode: The 4-wheel steering mode provides the 3 principal phases of steering: negative phase, neutral phase, and positive phase. In the negative phase the rear wheels turn opposite of the front wheels. In the neutral phase the rear wheels are centered and do not turn in or out. In the positive phase the rear wheels turn the same direction as the front wheels.

4-Wheel Steer Tow Mode: The 4-wheel steer tow mode provides more positive phase steering than the normal 4-wheel steering at high speed. At low speed driving, the 4-wheel steer tow mode provides similar negative phase steering as it does in the normal 4-wheel steering mode.

Note. There is also a cross-over speed. This is the speed that the control module transitions from a negative phase to a positive phase status. In 4-Wheel Steer mode, this transition occurs when the vehicle obtains a speed of 65 km/h (40 mph).

The cross over speed in the 4-Wheel Steer tow mode occurs at 40 km/h (25 mph).

Rear Wheel Steering Gear Motor: The rear steering gear motor is a 3 phase, 6 pole brushless, DC motor. The rear wheel steering gear motor is located on the top of the rear steering gear. The motor transmits it's power through a planetary gear set inside the rear steering gear. There are 3 hall switches inside the motor, hall A, hall B, and hall C. They are not serviceable. There is a motor phase shorting relay located inside the motor assembly, it is not serviceable. The motor leads are not to be spliced or damaged in any way. If there is damage to the wiring the motor must be replaced. If there is any damage to the wiring it is possible for water to get inside the rear steering gear. The rear wheel steering control module uses the hall switch inputs to monitor motor position, speed, and direction.

Steering Wheel Position Sensor: The steering wheel position sensor inputs to the rear wheel steering control module consists of 3 digital input circuits. The analog signal is sent from the TBC to the rear wheel steering control module via class 2. The steering wheel position sensor supply voltage is between 4.9-5.1 volts. Phase A and phase B circuits are digital pulse signals whose output represents one degree of steering wheel rotation. When observing the phase A and phase B data parameters on the scan tool, the parameters will not have the same value at the same time. When the steering wheel is rotated, the phase A and phase B data parameters will be shown as high or low on the scan tool. The marker pulse is a digital pulse that is displayed as high on the scan tool for 20 ° only when the steering wheel angle is between -10 and +10 °. The steering wheel position sensor analog signal voltage is at or near 2.5 volts with the wheels at center. Voltage increases/decreases for less than 1 full turn (+/- 225°) then plateaus for remainder of wheel travel.

Rear Wheel Steering Position Sensor: The rear wheel position sensor has 2 signal circuits: position 1 and position 2. Position 1 is a linear measurement of voltage per degree. The voltage range for position 1 is from 0.25 to 4.75 volts, and the angular measurement range is from - 620° to + 620°. At 0.25 volts the steering wheel has been rotated - 600° past center. At 4.75 volts the steering wheel has been rotated + 600° past center. Position 2 circuit is a linear measurement of voltage per degree. The voltage for position 2 increases or decreases from 0.25 to 4.75 volts every 180°. When the steering wheel is 0° or at center, position 1 and position 2 output signals measure 2.5 volts respectively.

Combined Yaw Rate Sensor / Lateral Accelerometer Sensor: The combined yaw rate sensor / lateral accelerometer sensor is located under the passenger front seat. Yaw rate is a rotational force on a horizontal plane. Lateral acceleration is a measure of forward motion on a horizontal plane. The inputs to the rear wheel steering controller are bias compensated. This compensates for variations in manufacturing, temperature, and mounting. With the vehicle at rest the sensor should have a voltage output on both circuits of approximately 2.5 volts. If there is a fault with either of these outputs, the rear wheel steering controller will set ether or both DTCs, C0186 and/or C0196. The system will remain functional if either of these DTCs set. It does not turn on the service 4 wheel steer indicator in IPC.

Steerable Rear Axle: The steerable rear axle has a rack and pinon mounted to the differential cover, and half shafts with upper and lower ball joints on movable hub and bearings assemblies. The rack is part of the differential cover. If a system malfunction occurs the rear wheels are moved back to center via an internal spring. The rack has redundant inner and outer tie rods ends. There are inner tie rod boots on the rack to prevent water and dirt from getting inside. Long term exposure to moisture due to a damaged boot or components can result in an internal malfunction. The rear wheel steering gear has the rear wheel steering gear motor attached to the upper rack. There are shields and a skid plate type shield on the rear axle assembly to protect the steering gear. There are no internal adjustments to the rack. It is mandatory to preform a 4 wheel alignment if any hard parts, such as tie rods or ball joints or wheel bearings are serviced. The axle assembly is a heavier duty version of the standard rear axle on a non rear wheel steer truck. You must consult the owners manual and the trailer towing guide for specific towing capacities. The carrier contains 9.74 inch ring and pinon gear set. The quarter shafts are a special heavy duty design with up to 15 ° of movement and a special designed CV joint and boot at the wheel end of the axle.

Scheme 146

Scheme 147

See also:
• TESTING FOR INTERMITTENT AND POOR CONNECTIONS
• CONNECTOR REPAIRS
• MEASURING WHEEL ALIGNMENT (WITH REAR WHEEL STEERING)
• MEASURING WHEEL ALIGNMENT (WITHOUT REAR WHEEL STEERING)
• TESTING FOR ELECTRICAL INTERMITTENTS
• WIRING REPAIRS
• CHECKING AFTERMARKET ACCESSORIES
• BEZEL REPLACEMENT - INSTRUMENT PANEL (I/P) CLUSTER
• LIFTING AND JACKING THE VEHICLE
• TIRE AND WHEEL REMOVAL AND INSTALLATION
• FASTENER NOTICE
• SEAT REPLACEMENT - FRONT BUCKET
• LUBRICANT LEVEL INSPECTION -- REAR DRIVE AXLE (8.6 INCH AXLE)
• REMOVAL (REAR -- ALL WITH 4-WHEEL STEERING)
• REMOVAL (REAR -- WITHOUT DUAL WHEELS & 4-WHEEL STEERING)
• DIAGNOSTIC SYSTEM CHECK - Rear Wheel Steering
• Rear Wheel Steering Description and Operation