Part 2

INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

INITIALIZATION (Continued)

9. CALIBRATION RELATED TO VEHICLE STABILITY CONTROL
(a) DESCRIPTION
After replacing the relevant VSC components, clear the sensor calibration data and perform calibration.






(b) CLEAR ZERO POINT CALIBRATION (SST CHECK WIRE)
After replacing the yaw rate and G sensor or performing a vehicle height adjustment, make sure to clear the zero point calibration data in the skid control ECU and perform zero point calibration.
(1) Turn the engine switch on (IG).




(2) Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.
SST: 09843-18040




(3) Check that "DIAG VSC OK" is displayed on the multi-information display and check that the ABS warning light outputs the normal system code.
(4) Using a check wire, perform zero point calibration of the yaw rate and G sensor.
(c) PERFORM ZERO POINT CALIBRATION OF YAW RATE AND G SENSOR (SST CHECK WIRE)
SST: 09843-18040
After replacing the master cylinder solenoid and/or yaw rate and G sensor or performing a vehicle height adjustment, make sure to perform yaw rate and G sensor zero point calibration.
NOTICE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking it. Keep it stationary and do not start the engine.
- Choose a level surface with an inclination of less than 1°.
(1) Procedures for Test Mode:
1 Turn the engine switch off.
2 Move the shift lever to P.
NOTE:
DTC C1210/36 and C1336/98 will be stored if the shift lever is not in P.

3 Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.





4 Check that the steering wheel is centered.
5 Turn the engine switch on (IG).
6 Keep the vehicle stationary on a level surface for 2 seconds or more.
7 Check that "VSC TEST MODE" is displayed on the multi-information display and check that the ABS warning light is blinking in test mode.
NOTE:
The ABS warning light stays on when obtaining the zero point.
HINT:
- If the ABS warning light does not blink, perform the 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 once.





(d) CLEAR ZERO POINT CALIBRATION (TECHSTREAM)
After replacing the yaw rate and G sensor or performing a vehicle height adjustment, make sure to clear the zero point calibration data in the skid control ECU and perform zero point calibration.
(1) Connect the Techstream to the DLC3.
(2) Turn the engine switch on (IG).
(3) Turn the Techstream on.
(4) Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Reset Memory.
(5) Using the Techstream, perform zero point calibration of the yaw rate and G sensor.
(e) PERFORM ZERO POINT CALIBRATION OF YAW RATE AND G SENSOR (TECHSTREAM)
After replacing the master cylinder solenoid and/or yaw rate and G sensor or performing a vehicle height adjustment, make sure to perform yaw rate and G sensor zero point calibration.
NOTICE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking it. Keep it stationary and do not start the engine.
- Choose a level surface with an inclination of less than 1°.
(1) Procedures for Test Mode:
1 Turn the engine switch off.
2 Move the shift lever to P.
NOTE:
DTC C1210/36 and C1336/98 will be stored if the shift lever is not in P.

3 Check that the steering wheel is centered.
4 Connect the Techstream to the DLC3.
5 Turn the engine switch on (IG).
6 Turn the Techstream on.
7 Enter the following menus: Chassis / ABS/VSC/TRAC / Utility / Test Mode.
8 Keep the vehicle stationary on a level surface for 2 seconds or more.
9 Check that "VSC TEST MODE" is displayed on the multi-information display and check that the ABS warning light is blinking in test mode.




NOTE:
The ABS warning light stays on when obtaining the zero point.
HINT:
- If the ABS warning light does not blink, perform the 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 once.

10. INITIALIZATION RELATED TO VARIABLE GEAR RATIO STEERING
(a) STEERING ANGLE SENSOR INITIALIZATION (to obtain a tire angle (during straight-ahead driving) signal)




(1) Turn the engine switch on (IG), and check that the master warning light illuminates for a few seconds.
NOTE:
If the warning light remains on, repair the applicable system.
(2) Drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or more.
HINT:
- At this point, the steering wheel will still remain off-center by 5 to 10°.
- In this step, the neutral position of the steering wheel is restored from the steering control ECU memory.
(3) Confirm that steering angle sensor initialization is completed (using the Techstream).
(4) Confirm that steering angle sensor initialization is completed (not using the Techstream).
1 Stop the vehicle (engine running).
2 Slowly turn the steering wheel from lock to lock.
3 If it turns approximately 2.7 turns, steering angle sensor initialization is completed. If it turns approximately 3.2 turns, steering angle sensor initialization is not completed.
NOTE:
If the steering wheel turns approximately 3.2 turns, drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or more. Then confirm the initialization again.

11. CALIBRATION RELATED TO VARIABLE GEAR RATIO STEERING
NOTE:
Use this procedure to center the steering wheel if:
- The steering actuator assembly has been replaced.
- The steering control ECU has been replaced.
- The steering column or steering intermediate shaft has been disconnected.
- The steering wheel is still off-center after completing the steering angle sensor initialization.

(a) VGRS SYSTEM CALIBRATION PROCEDURE (WHEN USING SST CHECK WIRE)
(1) FACE TIRES STRAIGHT AHEAD (Procedure A)
NOTE:
Drive the vehicle to confirm that the steering wheel is centered.
(2) CHECK DTC (Procedure B)
1 Check for DTCs.

Result





(3) PERFORM ACTUATOR ANGLE INITIALIZATION (Procedure C)
SST: 09843-18040
NOTE:
If the procedures from *1 to *2 are not completed within 1 minute, or if errors are made during these procedures, perform the initialization again from the beginning.

1 Start the engine.





2 Center the steering wheel.
3 Using SST, connect terminals 12 (TS) and 4 (CG), and 13 (TC) and 4 (CG) of the DLC3.*1
4 Disconnect SST from terminal 12 (TS) of the DLC3, and turn the steering wheel to the left 180° or more.
5 Connect SST to terminal 12 (TS) of the DLC3.
6 Disconnect SST from terminal 13 (TC) of the DLC3, and turn the steering wheel to the right 180° or more.
7 Connect SST to terminal 13 (TC) of the DLC3.*2
HINT: If the master warning light comes on, DTC C1591/51 is stored.

8 Disconnect SST from the DLC3.
9 Turn the engine switch off.
(4) FACE TIRES STRAIGHT AHEAD (Procedure D)
1 Confirm that the steering wheel is centered when facing the tires straight ahead.
NOTE:
Drive the vehicle to confirm that the steering wheel is centered.

Result





(5) UNLOCK STEERING ACTUATOR (Procedure E)
NOTE:
Make sure the engine is not running.

1 Turn the engine switch off.
2 Disconnect the cable from the negative (-) battery terminal.

W/ Navigation system
NOTE:
After the engine switch is turned off, the HDD navigation system requires approximately 6 minutes to record various types of memory and settings. As a result, after turning the engine switch off, wait 6 minutes or more before disconnecting the cable from the negative (-) battery terminal.

3 Disconnect the E85 connector from the steering actuator.





4 Connect a jumper wire from terminal 7 (LV+) of the steering actuator to the positive (+) 12 V battery terminal and another jumper wire from terminal 16 (LG+) of the steering actuator to the negative (-) 12 V battery terminal.
NOTE:
Do not apply voltage for more than 3 minutes.
(6) STEERING CENTER ADJUSTMENT (Procedure F)
1 Center the steering wheel.
NOTE:
If the centering of the spiral cable was not confirmed when the steering wheel was installed, confirm the centering of the spiral cable.
(7) LOCK STEERING ACTUATOR (Procedure G)
1 Disconnect the positive (+) and negative (-) 12 V battery jumper wires from the steering actuator.
2 Connect the E85 connector to the steering actuator.
3 Connect the cable to the negative (-) battery terminal.
4 Turn the steering wheel approximately 3° to the left and right. Confirm that the reaction force can be felt.
NOTICE:
- If the above procedures are not followed correctly, a DTC will be stored. If a DTC is stored, perform the above procedures again and then check for DTCs.
- Perform these procedures with the engine switch off.
(8) ADJUST ACTUATOR ANGLE (Procedure H)
SST: 09843-18040
HINT: Activating and ending test mode will complete actuator angle adjustment.

1 Make sure the engine switch is off.
NOTE:
Do not touch the steering wheel during these procedures.

2 Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.





3 Turn the engine switch on (IG).
4 Confirm that "VGRS Test Mode" is displayed on the multi-information display when test mode is activated.
HINT: Wait approximately 5 seconds.

5 Turn the engine switch off.
6 Disconnect SST from terminals 12 (TS) and 4 (CG) of the DLC3.
7 Turn the engine switch on (IG) again.
(9) CHECK MASTER WARNING LIGHT (Procedure I)
1 Confirm that the master warning light is off.
2 Turn the engine switch off, then on (IG).
3 Confirm that the master warning light is operating normally.

(10) CHECK STEERING WHEEL OPERATION (Procedure J)
1 Start the engine.
2 Perform the steering angle sensor initialization.
3 Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
4 Drive the vehicle and confirm that the steering wheel is centered.

(b) VGRS SYSTEM CALIBRATION PROCEDURE (WHEN USING TECHSTREAM)
(1) FACE TIRES STRAIGHT AHEAD
NOTE:
Drive the vehicle to confirm that the steering wheel is centered.
(2) PERFORM VGRS SYSTEM CALIBRATION (Procedure A)
1 Connect the Techstream to the DLC3.
2 Turn the engine switch on (IG).
3 Turn the Techstream on.
4 Enter the following menus: Chassis / VGRS / Utility / Steering Angle Adjust.
5 Perform the following procedures displayed on the Techstream.
HINT: Refer to the Techstream operator's manual for further details.
(3) CHECK MASTER WARNING LIGHT (Procedure B)
1 Confirm that the master warning light is off.
2 Turn the engine switch off.
3 Disconnect the Techstream from the DLC3.
4 Turn the engine switch on (IG).
5 Confirm that the master warning light is operating normally.
(4) CHECK STEERING WHEEL OPERATION (Procedure C)
1 Start the engine.
2 Perform the steering angle sensor initialization.
3 Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
4 Drive the vehicle and confirm that the steering wheel is centered.