DESCRIPTION
The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag sensor assembly) via CAN communication.
HINT:
If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag sensor assembly) and the CAN communication system, DTCs U012587 are output. When DTCs U012587 are output together with C051D54 and/or C121054, inspect and repair the trouble areas indicated by U012587 first.
HINT:
If there is a malfunction in the bus lines between the yaw rate and acceleration sensor and the CAN communication system, DTCs U012587 are output. When DTCs U012587 are output together with C051D54 and/or C121054, inspect and repair the trouble areas indicated by U012587 first.
These DTCs are also output when the calibration has not been completed.
DTC No. | Detection Item | DTC Detection Condition | Trouble Area |
---|---|---|---|
C051D54 | Multi-axis Acceleration Sensor Module "A" Missing Calibration | Zero point calibration of acceleration sensor undone. |
|
C121054 | Yaw Rate Sensor Missing Calibration | Zero point calibration of yaw rate sensor undone. | Yaw rate sensor zero point not calibrated |
CAUTION / NOTICE / HINT
NOTICE:
Click here
If the yaw rate and acceleration sensor was replaced or reinstalled, perform "Calibration". (for TFT Meter Type)
Click here
PROCEDURE
1. | PERFORM CALIBRATION |
(a) Connect the Techstream to the DLC3.
(b) Turn the engine switch on (IG).
(c) Enter the following menus: Chassis / Brake/EPB / Utility / Calibration.
(d) Perform "Calibration".
Click here
Chassis > Brake/EPB > Utility Tester Display |
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Calibration |
|
2. | CLEAR DTC |
(a) Operate the Techstream to clear the codes. Enter the following menus: Chassis / Brake/EPB / Trouble Codes.
Chassis > Brake/EPB > Clear DTCs(b) Press the DTC clear button.
(c) Turn the engine switch off.
|
3. | RECONFIRM DTC |
(a) Turn the engine switch on (IG).
(b) Read the DTCs following the prompts on the Techstream. Enter the following menus: Chassis / Brake/EPB / Trouble Codes.
Chassis > Brake/EPB > Trouble Codes(c) Check if the same DTC is output.
Result | Proceed to |
---|---|
DTCs C051D54 and C121054 are not output. | A |
DTCs C051D54 and/or C121054 are output. | B |
A | END |
|
4. | CHECK VEHICLE SPECIFICATION |
(a) Check the combination meter assembly.
Click here
Result | Proceed to |
---|---|
for Optitron Meter Type | A |
for TFT Meter Type | B |
B | GO TO STEP 7 |
|
5. | CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION |
(a) Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.
Click here
OK:
The yaw rate and acceleration sensor (airbag sensor assembly) is tightened to the specified torque.
The yaw rate and acceleration sensor (airbag sensor assembly) is not installed in a tilted position.
NG | INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY |
|
6. | READ VALUE USING TECHSTREAM (YAW RATE AND ACCELERATION SENSOR) |
(a) Connect the Techstream to the DLC3.
(b) Turn the engine switch on (IG).
(c) Enter the following menus: Chassis / Brake/EPB / Data List.
Chassis > Brake/EPB > Data List Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
---|---|---|---|---|
Lateral G | Lateral G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | Turning right: -25.105 to 0.000 m/s2 Turning left: 0.000 to 24.908 m/s2 | During turning: Changes in proportion with lateral acceleration |
Forward and Rearward G | Forward and rearward G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | During deceleration: -25.105 to 0.000 m/s2 During acceleration: 0.000 to 24.908 m/s2 | During acceleration/deceleration: Changes in proportion with acceleration |
Yaw Rate Sensor Value | Yaw rate sensor | Min.: -128°/s Max.: 127°/s | Vehicle stopped: 0°/s Turning right: -128 to 0°/s Turning left: 0 to 127°/s | - |
Tester Display |
---|
Lateral G |
Forward and Rearward G |
Yaw Rate Sensor Value |
(d) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the Techstream.
OK:
The yaw rate and acceleration sensor (airbag sensor assembly) output value is normal.
OK | REPLACE BRAKE ACTUATOR ASSEMBLY |
NG | REPLACE AIRBAG SENSOR ASSEMBLY |
7. | CHECK YAW RATE AND ACCELERATION SENSOR INSTALLATION |
(a) Check that the yaw rate and acceleration sensor has been installed properly.
Click here
OK:
The yaw rate and acceleration sensor is tightened to the specified torque.
The yaw rate and acceleration sensor is not installed in a tilted position.
NG | INSTALL YAW RATE AND ACCELERATION SENSOR CORRECTLY |
|
8. | READ VALUE USING TECHSTREAM (YAW RATE AND ACCELERATION SENSOR) |
(a) Connect the Techstream to the DLC3.
(b) Turn the engine switch on (IG).
(c) Enter the following menus: Chassis / Brake/EPB / Data List.
Chassis > Brake/EPB > Data List Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
---|---|---|---|---|
Lateral G | Lateral G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | Turning right: -25.105 to 0.000 m/s2 Turning left: 0.000 to 24.908 m/s2 | During turning: Changes in proportion with lateral acceleration |
Forward and Rearward G | Forward and rearward G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | During deceleration: -25.105 to 0.000 m/s2 During acceleration: 0.000 to 24.908 m/s2 | During acceleration/deceleration: Changes in proportion with acceleration |
Yaw Rate Sensor Value | Yaw rate sensor | Min.: -128°/s Max.: 127°/s | Vehicle stopped: 0°/s Turning right: -128 to 0°/s Turning left: 0 to 127°/s | - |
Tester Display |
---|
Lateral G |
Forward and Rearward G |
Yaw Rate Sensor Value |
(d) Check the yaw rate and acceleration sensor output value displayed on the Techstream.
OK:
The yaw rate and acceleration sensor output value is normal.
OK | REPLACE BRAKE ACTUATOR ASSEMBLY |
NG | REPLACE YAW RATE AND ACCELERATION SENSOR |
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