yaw sensor calibration TOYOTA HIGHLANDER 2001 Service Repair Manual
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Page 797 of 2572
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-815
1005 Author: Date:
DTC C1210/36 ZERO POINT CALIBRATION OF YAW RATE
SENSOR UNDONE
DTC C1336/39 ZERO POINT CALIBRATION OF
DECELERATION SENSOR UNDONE
CIRCUIT DESCRIPTION
Brake actuator receives signals from the yaw rate sensor (deceleration sensor) via CAN communication sys-
tem.
Yaw rate sensor has the built-in G sensor.
If there is trouble in the bus lines between the yaw rate sensor (deceleration sensor) and CAN communica-
tion system, the DTC U0123/62 (yaw rate sensor communication trouble) and U0124/95 (G sensor commu-
nication trouble) are output.
DTC No.DTC Detecting ConditionTrouble Area
C1210/36Zero point calibration of yaw rate sensor undone
Yaw rate sensor (Deceleration sensor)
Zero point calibration undone
(Perform zero point calibration and DTC.
If DTC is not output again, the sensor is normal)
C1336/39
When all the following (1 to 2) is detected:
(1) Drives in normal mode before completing zero point
calibration.
(2) Zero point voltage is not within 2.38 V and 2.62 V at
zero point calibration.
Yaw rate sensor (Deceleration sensor)
Zero point calibration undone
(If DTC is not output again, the sensor is normal)
05F1R-07
Page 798 of 2572
05-816
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
1006 Author: Date:
INSPECTION PROCEDURE
HINT:
When U0121/94, U0123/62, U0124/95 or U0126/63 are output accompanied with C1210/36 or C1336/39,
inspect and repair the trouble areas indicated by U0121/94, U0123/62, U0124/95 or U0126/63 first.
1 PERFORM ZERO POINT CALIBRATION OF YAW RATE SENSOR AND
DECELERATION SENSOR
(a) Perform the zero point calibration of the yaw rate sensor and deceleration sensor
(see page 05-765).
NEXT
2 RECONFIRM DTC
(a) Clear the DTCs (see page 05-765).
(b) Turn the ignition switch to the ON position.
(c) Are the same DTCs recorded? (see page 05-765).
NO PROCEED TO NEXT CIRCUIT INSPECTION
SHOWN IN PROBLEM SYMPTOMS TABLE
(SEE PAGE 05-786)
YES
3 CHECK SENSOR INSTALLATION
(a) Check that the yaw rate sensor has been installed properly (see page 32-46).
NG INSTALL YAW RATE SENSOR CORRECTLY
OK
REPLACE YAWRATE SENSOR(SEE PAGE 32-46)
Page 2099 of 2572
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-781
971 Author: Date:
HINT:
In some cases, the hand-held tester cannot be used when ABS warning light remains on.
DTC chart of VSC:
DTC No.
(See Page)Detection ItemTrouble Area
C1201/51
(05-812)Malfunction in ECMEngine control system
C1203/53
(05-813)Malfunction in ECM communication circuit
TRC+ or TRC- circuit
ENG+ or ENG- circuit
ECM
C1210/36
(05-815)Zero point calibration of yaw rate sensor undoneYaw rate sensor (Deceleration sensor)
Zero point calibration undone
C1223/43
(05-817)Malfunction in ABS control systemABS control system
C1224/44
(05-818)Open or short circuit in NEO signal circuit
NEO circuit
ECM
Skid control ECU
C1231/31
(05-821)Malfunction in steering angle sensor
Steering angle sensor
Steering angle sensor circuit
+B circuit
Can communication system
C1232/32
(05-824)Malfunction in deceleration sensorYaw rate / deceleration
Yaw rate / deceleration sensor circuit
C1234/34
(05-824)Malfunction in yaw rate sensorYaw rate / deceleration
Yaw rate / deceleration sensor circuit
C1336/39
(05-815)Zero point calibration of deceleration sensor undoneYaw rate sensor (Deceleration sensor)
Zero point calibration not done
U0123/62
(05-2090)Malfunction in CAN communication with yaw rate sensorWire harness
Yaw rate sensor (Deceleration sensor)
U0126/63
(05-2090)Malfunction in CAN communication with angle position sensorWire harness
Steering angle sensor
HINT:
In some cases, the hand-held tester cannot be used when the VSC warning light remains on.
DTC of sensor check function:
Code No.DiagnosisTrouble Area
C1271/71Low output voltage of right front speed sensor
Right front speed sensor
Sensor installation
Sensor rotor
C1272/72Low output voltage of left front speed sensor
Left front speed sensor
Sensor installation
Sensor rotor
C1273/73Low output voltage of right rear speed sensor
Right rear speed sensor
Sensor installation
Sensor rotor
C1274/74Low output voltage of left rear speed sensor
Left rear speed sensor
Sensor installation
Sensor rotor
C1275/75Abnormal change in output voltage of right front speed sen-
sorRight front sensor rotor
C1276/76Abnormal change in output voltage of left front speed sen-
sorLeft front speed sensor rotor
C1277/77Abnormal change in output voltage of right rear speed sen-
sorRight rear sensor rotor
C1278/78Abnormal change in output voltage of left rear speed sensorLeft rear speed sensor rotor
Page 2365 of 2572
C52361
DLC3
Ts
CG
BR3904
0.13 sec. 0.13 sec.
ON
OFF 05-772
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
962 Author: Date:
7. SENSOR SIGNAL CHECK (TEST MODE)
(USING SST CHECK WIRE)
NOTICE:
After replacing the yaw rate sensor (deceleration sensor)
and/or brake actuator assembly (skid control ECU), per-
form zero point calibration of the yaw rate sensor and de-
celeration sensor. (See step 9.)
HINT:
If the ignition switch is turned from ON to the ACC or
LOCK position during test mode, DTC of sensor check
function will be erased.
During test mode, ECU records all DTCs of sensor check
functions. By preforming sensor signal check, the codes
are erased if normality is confirmed. The codes left over
are the codes where an abnormality was found.
(a) Procedures for test mode:
(1) Turn the ignition switch off.
(2) Check that the steering wheel is in the straight-
ahead position and shift the shift lever to the P posi-
tion.
(3) Using SST, connect terminals Ts and CG of the
DLC3.
SST 09843-18040
(4) Turn the ignition switch to the ON position.
(5) Check that the ABS warning light and VSC warning
light blink.
HINT:
If the ABS warning light and VSC warning light do not blink, in-
spect the ABS warning light circuit, VSC warning light and Ts
terminal circuit.
Trouble areaSee Page
Ts and CG terminal circuit05-873
ABS warning light circuit05-840 or
05-844
VSC warning light circuit05-847 or
05-851
(b) Check the master cylinder pressure sensor:
(1) Leave the vehicle in a stationary condition and the
brake pedal in a free condition for 1 second or more,
and quickly depress the brake pedal with a force of
98 N (10 kgf, 22 lbf) or more for 1 second or more.
HINT:
At this time, the ABS warning light remains on for 3 se-
conds.
While the ABS warning light remains on, continue to de-
press the brake pedal with a force of 98 N (10 kgf) or more.
The ABS warning light comes on for 3 seconds every time
the brake pedal operation above is performed.
Page 2368 of 2572
BR3904
0.13 sec. 0.13 sec.
ON
OFF
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-775
965 Author: Date:
8. SENSOR SIGNAL CHECK (TEST MODE)
(USING HAND-HELD TESTER)
NOTICE:
After replacing the yaw rate sensor (deceleration sensor)
and/or brake actuator assembly (skid control ECU), per-
form zero point calibration of the yaw rate sensor and de-
celeration sensor. (See step 10.)
HINT:
If the ignition switch is turned from ON to the ACC or
LOCK position during test mode, DTC of sensor check
function will be erased.
During test mode, ECU records all DTC of sensor check
function. By preforming sensor signal check, the codes
are erased if normality is confirmed. The codes left over
are the codes where an abnormality was found.
(a) Procedures for signal check:
(1) Turn the ignition switch off.
(2) Check that the shift lever position is in the P posi-
tion.
(3) Connect the hand-held tester to the DLC3.
(4) Perform the signal check (test mode) by following
the prompts on the tester screen.
[System Selection Screen]
ºDIAGNOSISº - ºOBD/MOBDº - Select the vehicle -
ºABS/VSCº - ºSIGNAL CHECKº
(5) Check that the ABS warning light and VSC warning
light blink.
HINT:
If the ABS warning light and VSC warning light do not blink, in-
spect the ABS warning light circuit and VSC warning light cir-
cuit.
Trouble areaSee Page
ABS warning light circuit05-840 or
05-844
VSC warning light circuit05-847 or
05-851
(b) Check the master cylinder pressure sensor:
(1) Leave the vehicle in a stationary condition and the
brake pedal in a free condition for 1 second or more
and quickly depress the brake pedal with a force of
98 N (10 kgf, 22 lbf) or more for 1 second or more.
HINT:
At this time, the ABS warning light remains on for 3 seconds.
Page 2369 of 2572
F02135
Start Position
End PositionWithin ± 5° 05-776
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
966 Author: Date:
(c) Check the yaw rate:
(1) Shift the shift lever to the D position and drive the
vehicle at a speed of approx. 3 mph (5 km/h), and
maintain a 180° circular drive for the vehicle.
(2) Stop the vehicle and shift the shift lever to the P
position, and check that the skid control buzzer
sounds for 3 seconds.
HINT:
If the skid control buzzer sounds, the sensor check is
completed normally.
If the skid control buzzer does not sound, check the skid
control buzzer circuit (See page 05-866), then perform
the sensor check again. If the skid control buzzer still does
not sound, there is a malfunction in the VSC sensor, so
check for DTC.
Drive the vehicle in a 180° circle. At the end of the turn,
ensure that the vehicle is exactly 180° within a tolerance
of ± 5°, and facing the other direction from its original
start position.
Do not spin the wheels.
(d) Check the speed sensor:
(1) Drive the vehicle straight forward at the speed of 28
mph (45 km/h) or higher for several seconds and
check that the ABS warning light goes off.
HINT:
The sensor check may not be completed if the vehicle has its
wheels spun or its steering wheel turned during this check.
(2) Stop the vehicle.
(e) Read the DTC following the tester screen.
HINT:
Refer to the hand-held tester operator's manual for fur-
ther details.
If the check result is OK, the ABS warning light link goes
off when the brake pedal is once depressed.
9. IF NECESSARY, PERFORM ZERO POINT CALIBRA-
TION OF YAW RATE SENSOR AND/OR BRAKE AC-
TUATOR ASSY (USING SST CHECK WIRE)
NOTICE:
While obtaining the zero point, do not tilt, move or
shake the vehicle but keep it in a stationary condition.
(Do not start the engine.)
Be sure to perform the operation on a level surface
(within an inclination of 1 %).
(a) Check that the steering wheel is in the straight-ahead
position and shift the shift lever to the P position.
(b) Clear the zero point calibration:
HINT:
When replacing the yaw rate sensor only (not replace the brake
actuator assy).
(1) Turn the ignition switch to the ON position.
Page 2370 of 2572
C52361
DLC3
Ts
CG
F46259
- DIAGNOSTICSABS WITH EBD & BA & TRAC & VSC SYSTEM
05-777
967 Author: Date:
(2) Using SST, connect and disconnect terminals Ts
and CG of the DLC3 4 times or more within 8 se-
conds.
SST 09843-18040
(3) Remove the SST from the terminals of the DLC3.
(c) Obtain the zero point calibration:
(1) Turn the ignition switch off.
(2) Using SST, connect terminals Ts and CG of the
DLC3.
SST 09843-18040
(3) Turn the ignition switch to the ON position.
(4) Keep the vehicle in a stationary condition on a level
surface for 2 seconds or more.
(5) Check that the VSC warning light blinks.
HINT:
If the VSC warning light does not blink, perform the zero point
calibration again.
(d) Remove the SST from the terminals of the DLC3.
SST 09843-18040
(e) Turn the ignition switch off.
10. IF NECESSARY, PERFORM ZERO POINT CALIBRATION OF YAW RATE SENSOR AND/OR
BRAKE ACTUATOR ASSY (USING HAND-HELD TESTER)
NOTICE:
While obtaining the zero point, do not tilt, move or shake the vehicle but keep it in a stationary
condition. (Do not start the engine.)
Be sure to perform the operation on a level surface (within an inclination of 1 %).
(a) Check that the steering wheel is in the straight-ahead position and shift the shift lever to the P position.
(b) Connect the hand-held tester to the DLC3.
(c) Turn the ignition switch to the ON position.
(d) Perform the reset memory by following the prompts on the tester screen.
HINT:
When replace the yaw rate sensor only (not replace the brake actuator assy).
[System Selection Screen]
ºDIAGNOSISº - ºOBD/MOBDº - Select the vehicle - ºABS/VSCº - ºRESET MEMORYº
(e) Perform the signal check (test mode) by following the prompts on the tester screen.
[System Selection Screen]
ºDIAGNOSISº - ºOBD/MOBDº - Select the vehicle - ºABS/VSCº - ºSIGNAL CHECKº
(f) Obtain zero point of the yaw rate sensor and deceleration sensor:
(1) Keep the vehicle in a stationary condition on a level surface for 2 seconds or more.
(2) Check that the VSC warning light blinks.