CALIBRATION
- DESCRIPTION After replacing any VSC related components or performing wheel alignment adjustment, clear and read the sensor calibration data. Follow the chart below to perform calibration. Part to be Replaced / Operation Necessary Operation Brake booster with master cylinder (Skid control ECU) Yaw rate and acceleration sensor zero point calibration Yaw rate and acceleration sensor Clearing zero point calibration data Yaw rate and acceleration sensor zero point calibration Wheel alignment adjustment Clearing zero point calibration data Yaw rate and acceleration sensor zero point calibration
- OBTAIN ZERO POINT OF YAW RATE AND ACCELERATION SENSOR (When Using the Techstream) NOTE: While obtaining the zero point, keep the vehicle stationary and do not vibrate, tilt, move, or shake it. Be sure to perform this procedure on a level surface (with an inclination of less than 1 degree). Clear the zero point calibration data. Turn the power switch off. Check that the steering wheel is centered. Check that park (P) is selected. Connect the Techstream to the DLC3. Turn the power switch on (IG). Turn the Techstream on. Select the skid control ECU to clear the zero point calibration data using the Techstream. Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Reset Memory. Turn the power switch off. NOTE: If the power switch is turned on (IG) for more than 15 seconds with park (P) selected after the zero point of the yaw rate and acceleration sensor has been cleared, only the zero point of the yaw rate sensor will be stored. If the vehicle is driven under these conditions, the skid control ECU will store the zero point calibration for the acceleration sensor as not being completed. The skid control ECU will then also indicate this as a malfunction of the VSC system using the indicator light. Perform the zero point calibration of the yaw rate and acceleration sensor. Turn the power switch off. Check that the steering wheel is centered. Check that park (P) is selected. NOTE: DTCs C1210 (Zero Point Calibration of Yaw Rate Sensor Undone) and C1336 (Zero Point Calibration of Acceleration Sensor Undone) will be stored if park (P) is not selected. Connect the Techstream to the DLC3. Turn the power switch on (IG). Turn the Techstream on. Switch the skid control ECU to Test Mode using the Techstream. Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Test Mode. After Test Mode has been entered, keep the vehicle stationary on a level surface for 2 seconds or more. Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blink in Test Mode. HINT: TRAC OFF message is displayed on the multi-information display during Test Mode because traction control is prohibited. If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, perform zero point calibration again. The zero point calibration is performed only once after the system enters Test Mode. Calibration cannot be performed again until the stored data is cleared. Turn the power switch off and disconnect the Techstream.
- OBTAIN ZERO POINT OF YAW RATE AND ACCELERATION SENSOR (When not Using the Techstream) NOTE: While obtaining the zero point, keep the vehicle stationary and do not vibrate, tilt, move, or shake it. Be sure to perform this procedure on a level surface (with an inclination of less than 1 degree). Clear the zero point calibration data. Turn the power switch off. Check that the steering wheel is centered. Check that park (P) is selected. Turn the power switch on (IG). Using SST, connect and disconnect terminals TS and CG of the DLC3 4 times or more within 8 seconds. SST: 09843-18040 TEXT IN ILLUSTRATION *1 Front view of DLC3 Check that no codes other than ABS code 42, VSC code 45 and electronically controlled brake system code 48, 66, or 95 are stored in the diagnostic system. HINT: How to read DTCs: Diagnostic trouble codes are represented by the number of blinks of a warning light. For example, code 21 would be shown by 2 blinks, a pause of 1.5 seconds, and then 1 blink. If one code is detected: The light repeats the same code after a pause of 4 seconds. If multiple codes are detected: The light outputs one code after another with a 2.5-second pause between each code. When all codes have been output, there is a 4-second pause and then the light begins to output the codes again. The ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not indicate a normal system code. NOTE: If the power switch is turned on (IG) for more than 15 seconds with park (P) selected after the zero point of the yaw rate and acceleration sensor has been cleared, only the zero point of the yaw rate sensor will be stored. If the vehicle is driven under these conditions, the skid control ECU will store the zero point calibration for the acceleration sensor as not being completed. The skid control ECU will then also indicate this as a malfunction of the VSC system using the indicator light. Turn the power switch off. Perform the zero point calibration of the yaw rate and acceleration sensor. Turn the power switch off. Check that the steering wheel is centered. Check that park (P) is selected. NOTE: DTCs 36 (Zero Point Calibration of Yaw Rate Sensor Undone) and 98 (Zero Point Calibration of Acceleration Sensor Undone) will be recorded if park (P) is not selected. Using SST, connect terminals TS and CG of the DLC3. SST: 09843-18040 TEXT IN ILLUSTRATION *1 Front view of DLC3 Turn the power switch on (IG). After Test Mode has been entered, keep the vehicle stationary on a level surface for 2 seconds or more. Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blinks in Test Mode. HINT: TRAC OFF message is displayed on the multi-information display during Test Mode because traction control is prohibited. If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, perform zero point calibration again. The zero point calibration is performed only once after the system enters Test Mode. Calibration cannot be performed again until the stored data is cleared. Turn the power switch off and disconnect SST from the DLC3.
Scheme 1
Scheme 2
- WARNING LIGHT AND INDICATOR LIGHT INITIAL CHECK Release the parking brake. NOTE: When releasing the parking brake, push the P position switch (transmission shift main switch) for safety. HINT: When the parking brake is applied or the brake fluid level is low, the brake warning light / red (malfunction) comes on. When the power switch is turned on (IG), check that the ABS warning, brake warning / red (malfunction), brake warning / yellow (minor malfunction), VSC OFF indicator and slip indicator lights come on, and TRAC OFF message is displayed on the multi-information display until the power switch is turned on (READY). HINT: If the skid control ECU stores any DTCs, the ABS warning, brake warning / red (malfunction), brake warning / yellow (minor malfunction) and slip indicator lights will come on. If any of the indicators remains on or does not come on, proceed to troubleshooting for the light circuits listed below. Trouble Area See Procedure ABS warning light circuit (Remains on) Refer to «ABS Warning Light Remains ON»(ref-398289-S22117057412011051600000) ABS warning light circuit (Does not come on) Refer to «ABS Warning Light does not Come ON»(ref-398289-S13560335452011051600000) Brake warning light / red (malfunction) circuit (Remains on) Refer to «Brake Warning Light Remains ON»(ref-398289-S22315712682011051600000) Brake warning light / red (malfunction) circuit (Does not come on) Refer to «Brake Warning Light does not Come ON»(ref-398289-S14738914892011051600000) Brake warning light / yellow (minor malfunction) circuit (Remains on) Refer to «Brake Control Warning Light Remains ON»(ref-398289-S37927015112011051600000) Brake warning light / yellow (minor malfunction) circuit (Does not come on) Refer to «Brake Control Warning Light does not Come ON»(ref-398289-S35785424512011051600000) VSC OFF indicator light circuit (Remains on) Refer to «VSC OFF Indicator Light Remains ON»(ref-398289-S05064946382011051600000) VSC OFF indicator light circuit (Does not come on) Refer to «VSC OFF Indicator Light does not Come ON»(ref-398289-S04656540102011051600000) Multi-information display (TRAC OFF indicator) circuit (Remains on) Refer to «TRAC OFF Indicator Light Remains ON»(ref-398289-S32029888472011051600000) Multi-information display (TRAC OFF indicator) circuit (Does not come on) Refer to «TRAC OFF Indicator Light does not Come ON»(ref-398289-S15479334552011051600000) Slip indicator light circuit (Remains on) Refer to «Slip Indicator Light Remains ON»(ref-398289-S21549699332011051600000) Slip indicator light circuit (Does not come on) Refer to «Slip Indicator Light does not Come ON»(ref-398289-S42520856412011051600000)
- SENSOR CHECK USING TEST MODE (SIGNAL CHECK) (When Using the Techstream) NOTE: Before performing the master cylinder pressure sensor check or yaw rate sensor zero point voltage check, perform linear valve offset learning. HINT: If the power switch is turned from on (IG) to on (ACC) or off during Test Mode (signal check), DTCs recorded during the sensor check will be cleared. During Test Mode (signal check), the skid control ECU records all DTCs detected in the sensor check. By performing Test Mode (signal check), the codes are cleared if a normal condition is confirmed. The remaining codes are the codes where an abnormality was found. Procedure to enter the Test Mode Turn the power switch off. Check that the steering wheel is centered. Check that the parking brake is released. Check that park (P) is selected. Connect the Techstream to the DLC3. Turn the power switch on (IG). Turn the Techstream on. Switch the skid control ECU to Test Mode using the Techstream. Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Signal Check. Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blink in Test Mode. HINT: TRAC OFF message is displayed on the multi-information display during Test Mode because traction control is prohibited. If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, inspect the TS and CG terminal circuit and ABS warning, brake warning / yellow (minor malfunction) and slip indicator light circuits. Check the ABS sensors. HINT: Check that the ABS warning light is blinking in the Test Mode blinking pattern before performing the ABS sensor check. Acceleration Sensor Check Keep the vehicle stationary on a level surface for 1 second or more. HINT: The acceleration sensor check can be performed with the master cylinder pressure sensor check below. Master Cylinder Pressure Sensor Check NOTE: Before performing the master cylinder pressure sensor check, perform linear valve offset learning. Leave the vehicle in a stationary condition and release the brake pedal for 1 second or more, and quickly and continuously depress the brake pedal with a force greater than 98 N (10 kgf, 22.0 lbf) for 1 second. Check that the ABS warning light stays on for 3 seconds. HINT: Confirm that the ABS warning light comes on. While the ABS warning light stays on, continue to depress the brake pedal with a force of 98 N (10 kgf, 22.0 lbf) or more. The ABS warning light comes on for 3 seconds every time the preceding brake pedal operation is performed. Speed Sensor Check NOTE: Before performing the speed sensor check, complete the acceleration sensor and master cylinder pressure sensor checks. Drive the vehicle straight-ahead. Accelerate the vehicle to a speed of 45 km/h (28 mph) or more for several seconds and check that the ABS warning light goes off. HINT: The sensor check may not be completed if wheelspin occurs. The ABS warning light comes on immediately if a malfunction is detected during the speed sensor check. Stop the vehicle. NOTE: The speed sensor check may not be completed if the speed sensor check is started while turning the steering wheel or spinning the wheels. After the ABS warning light goes off, if vehicle speed exceeds 80 km/h (50 mph), a sensor check code will be stored again. Decelerate or stop the vehicle before the speed reaches 80 km/h (50 mph). If the sensor check has not been completed, the ABS warning light will blink while driving and the ABS will not operate. Check the VSC sensor. HINT: Check that the brake warning / yellow (minor malfunction) and slip indicator lights are blinking in the Test Mode blinking pattern before performing the VSC sensor check. Yaw Rate Sensor Zero Point Voltage Check NOTE: Before performing the yaw rate sensor zero point voltage check, perform linear valve offset learning. Check that park (P) is selected. Keep the vehicle stationary on a level surface for 1 second or more. Check that the brake warning light / yellow (minor malfunction) blinks. Yaw Rate Sensor Output Check Move the shift lever to D and drive the vehicle at a speed of approximately 5 km/h (3 mph), and turn the steering wheel either to the left or right 90° or more until the vehicle makes a 180° turn. NOTE: Make a 180° turn. At the end of the turn, the direction of the vehicle should be within 180° +/-5 deg. of its start position. Do not allow the wheels to spin. Do not turn the power switch off while turning. Do not push the P position switch (transmission shift main switch) while turning, but changing the vehicle speed, stopping, or driving in reverse is acceptable. Stop the vehicle and push the P position switch (transmission shift main switch). Check that the skid control buzzer sounds for 3 seconds. HINT: If the skid control buzzer sounds, the sensor check has completed normally. If the skid control buzzer does not sound, check the skid control buzzer circuit. Refer to «Skid Control Buzzer Circuit»(ref-398289-S29834052562011051600000) , then perform the sensor check again. If the skid control buzzer still does not sound, the yaw rate sensor may be malfunctioning. Check for DTCs. End of Sensor Check If the sensor check is completed, the ABS warning light blinks (Test Mode) when the vehicle is stopped and goes off while the vehicle is driving. NOTE: When all the yaw rate sensor, acceleration sensor, speed sensor, and master cylinder pressure sensor checks are completed, the sensor check is completed. If the sensor check has not been completed, the ABS warning light will blink while driving and the ABS will not operate. Read Sensor Check DTCs Read the DTC(s) by following the Techstream screen. NOTE: If only DTCs other than Test Mode sensor check DTCs are displayed, repair the malfunction and clear the DTCs. If Test Mode sensor check DTCs and other DTCs are displayed or if only Test Mode sensor check DTCs are displayed, repair the malfunction, clear the DTCs, and perform the Test Mode inspection again. HINT: See "Sensor Check DTCs". Turn the power switch off and disconnect the Techstream. Sensor Check DTCs ABS SENSOR DTC Code Detection Item Trouble Area C1271 Low Output Signal of Front Speed Sensor RH Front speed sensor RH Sensor installation Speed sensor rotor C1272 Low Output Signal of Front Speed Sensor LH Front speed sensor LH Sensor installation Speed sensor rotor C1273 Low Output Signal of Rear Speed Sensor RH Rear speed sensor RH Sensor installation Speed sensor rotor C1274 Low Output Signal of Rear Speed Sensor LH Rear speed sensor LH Sensor installation Speed sensor rotor C1275 Abnormal Change in Output Signal of Front Speed Sensor RH Front speed sensor RH Speed sensor rotor C1276 Abnormal Change in Output Signal of Front Speed Sensor LH Front speed sensor LH Speed sensor rotor C1277 Abnormal Change in Output Signal of Rear Speed Sensor RH Rear speed sensor RH Speed sensor rotor C1278 Abnormal Change in Output Signal of Rear Speed Sensor LH Rear speed sensor LH Speed sensor rotor C1279 Acceleration Sensor Output Voltage Malfunction Sensor installation Yaw rate and acceleration sensor C1281 Master Cylinder Pressure Sensor Output Malfunction Stop light switch Regulator pressure sensor VSC SENSOR DTC Code Detection Item Trouble Area C0371 Yaw Rate Sensor Sensor installation Yaw rate and acceleration sensor ELECTRONICALLY CONTROLLED BRAKE SYSTEM SENSOR DTC Code Detection Item Trouble Area C1346 Stroke Sensor Zero Point Learning Malfunction Brake pedal stroke sensor Brake pedal stroke sensor circuit HINT: The codes in this table are output only in Test Mode (signal check).
- SENSOR CHECK USING TEST MODE (SIGNAL CHECK) (When not Using the Techstream) NOTE: Before performing the master cylinder pressure sensor check or yaw rate sensor zero point voltage check, perform linear valve offset learning. HINT: If the power switch is turned from on (IG) to on (ACC) or off during Test Mode (signal check), DTCs recorded during the sensor check will be cleared. During Test Mode (signal check), the skid control ECU records all DTCs detected in the sensor check. By performing Test Mode (signal check), the codes are cleared if a normal condition is confirmed. The remaining codes are the codes where an abnormality was found. Procedure to enter Test Mode Turn the power switch off. Check that the steering wheel is centered. Check that the parking brake is released. Check that park (P) is selected. Using SST, connect terminals TS and CG of the DLC3. SST: 09843-18040 TEXT IN ILLUSTRATION *1 Front view of DLC3 Turn the power switch on (IG). Check that the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights come on for several seconds and then blink in Test Mode. HINT: TRAC OFF message is displayed on the multi-information display during Test Mode because traction control is prohibited. If the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights do not blink, inspect the TS and CG terminal circuit and ABS warning, brake warning / yellow (minor malfunction) and slip indicator light circuits. Check the ABS sensors. HINT: Check that the ABS warning light is blinking in the Test Mode blinking pattern before performing the ABS sensor check. Acceleration Sensor Check Keep the vehicle stationary on a level surface for 1 second or more. HINT: The acceleration sensor check can be performed with the master cylinder pressure sensor check below. Master Cylinder Pressure Sensor Check NOTE: Before performing the master cylinder pressure sensor check, perform linear valve offset learning. Leave the vehicle in a stationary condition and release the brake pedal for 1 second or more, and quickly and continuously depress the brake pedal with a force greater than 98 N (10 kgf, 22.0 lbf) for 1 second. Check that the ABS warning light stays on for 3 seconds. HINT: Confirm that the ABS warning light comes on. While the ABS warning light stays on, continue to depress the brake pedal with a force of 98 N (10 kgf, 22.0 lbf) or more. The ABS warning light comes on for 3 seconds every time the preceding brake pedal operation is performed. Speed Sensor Check NOTE: Before performing the speed sensor check, complete the acceleration sensor and master cylinder pressure sensor checks. Drive the vehicle straight-ahead. Accelerate the vehicle to a speed of 45 km/h (28 mph) or more for several seconds and check that the ABS warning light goes off. HINT: The sensor check may not be completed if wheelspin occurs. The ABS warning light comes on immediately if a malfunction is detected during the speed sensor check. Stop the vehicle. NOTE: The speed sensor check may not be completed if the speed sensor check is started while turning the steering wheel or spinning the wheels. After the ABS warning light goes off, if vehicle speed exceeds 80 km/h (50 mph), a sensor check code will be stored again. Decelerate or stop the vehicle before the speed reaches 80 km/h (50 mph). If the sensor check has not been completed, the ABS warning light will blink while driving and the ABS will not operate. Check the VSC sensor. HINT: Check that the brake warning / yellow (minor malfunction) and slip indicator lights are blinking in the Test Mode blinking pattern before performing the VSC sensor check. Yaw Rate Sensor Zero Point Voltage Check NOTE: Before performing the yaw rate sensor zero point voltage check, perform linear valve offset learning. Check that park (P) is selected. Keep the vehicle stationary on a level surface for 1 second or more. Check that the brake warning light / yellow (minor malfunction) blinks. Yaw Rate Sensor Output Check Move the shift lever to D and drive the vehicle at a speed of approximately 5 km/h (3 mph), and turn the steering wheel either to the left or right 90° or more until the vehicle makes a 180° turn. NOTE: Make a 180° turn. At the end of the turn, the direction of the vehicle should be within 180° +/-5 deg. of its start position. Do not allow the wheels to spin. Do not turn the power switch off while turning. Do not push the P position switch (transmission shift main switch) while turning, but changing the vehicle speed, stopping, or driving in reverse is acceptable. Stop the vehicle and push the P position switch (transmission shift main switch). Check that the skid control buzzer sounds for 3 seconds. HINT: If the skid control buzzer sounds, the sensor check has completed normally. If the skid control buzzer does not sound, check the skid control buzzer circuit. Refer to «Skid Control Buzzer Circuit»(ref-398289-S29834052562011051600000) , then perform the sensor check again. If the skid control buzzer still does not sound, the yaw rate sensor may be malfunctioning. Check for DTCs. End of Sensor Check If the sensor check is completed, the ABS warning light blinks (Test Mode) when the vehicle is stopped and goes off while the vehicle is driving. NOTE: When the yaw rate sensor, acceleration sensor, speed sensor, and master cylinder pressure sensor checks are completed, the sensor check is completed. If the sensor check has not been completed, the ABS warning light will blink while driving and the ABS will not operate. Read Sensor Check DTCs Using SST, connect terminals TC and CG of the DLC3. SST: 09843-18040 TEXT IN ILLUSTRATION *1 Front view of DLC3 Count the number of blinks of the ABS warning, brake warning / yellow (minor malfunction) and slip indicator lights. HINT: How to read DTCs: Diagnostic trouble codes are represented by the number of blinks of a warning light. For example, code 21 would be shown by 2 blinks, a pause of 1.5 seconds, and then 1 blink. If one code is detected: The light repeats the same code after a pause of 4 seconds. If multiple codes are detected: The light outputs one code after another with a 2.5-second pause between each code. When all codes have been output, there is a 4-second pause and then the light begins to output the codes again. NOTE: If only DTCs other than the Test Mode sensor check DTCs are displayed, repair the malfunctions and clear the DTCs. If Test Mode sensor check DTCs and other DTCs are displayed or if only the Test Mode sensor check DTCs are displayed, repair the malfunctions, clear the DTCs, and perform the Test Mode inspection again. HINT: If more than 1 malfunction is detected at the same time, the lowest numbered code will be displayed first. See "Sensor Check DTCs". After performing the check, disconnect SST from terminals TS and CG, and TC and CG of the DLC3 and turn the power switch off. HINT: If the power switch is not turned on (IG) after SST is removed from the DLC3, the previous Test Mode will continue. If the power switch is turned on (IG) with terminals TS and CG connected, the previous Test Mode will continue. Sensor Check DTCs ABS SENSOR DTC Code Detection Item Trouble Area 71 Low Output Signal of Front Speed Sensor RH Front speed sensor RH Sensor installation Speed sensor rotor 72 Low Output Signal of Front Speed Sensor LH Front speed sensor LH Sensor installation Speed sensor rotor 73 Low Output Signal of Rear Speed Sensor RH Rear speed sensor RH Sensor installation Speed sensor rotor 74 Low Output Signal of Rear Speed Sensor LH Rear speed sensor LH Sensor installation Speed sensor rotor 75 Abnormal Change in Output Signal of Front Speed Sensor RH Front speed sensor RH Speed sensor rotor 76 Abnormal Change in Output Signal of Front Speed Sensor LH Front speed sensor LH Speed sensor rotor 77 Abnormal Change in Output Signal of Rear Speed Sensor RH Rear speed sensor RH Speed sensor rotor 78 Abnormal Change in Output Signal of Rear Speed Sensor LH Rear speed sensor LH Speed sensor rotor 79 Acceleration Sensor Output Voltage Malfunction Sensor installation Yaw rate and acceleration sensor 81 Master Cylinder Pressure Sensor Output Malfunction Stop light switch Regulator pressure sensor VSC SENSOR DTC Code Detection Item Trouble Area 71 Yaw Rate Sensor Sensor installation Yaw rate and acceleration sensor ELECTRONICALLY CONTROLLED BRAKE SYSTEM SENSOR DTC Code Detection Item Trouble Area 71 Stroke Sensor Zero Point Learning Malfunction Brake pedal stroke sensor Brake pedal stroke sensor circuit HINT: The codes in this table are output only in Test Mode (signal check).