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Home >> Toyota >> 2021 >> Highlander LE, 4WD >> Repair and Diagnosis >> External Pages >> Different variant/trim >> Section 127 (Electronically Controlled Brake System (HV) - Diagnostic Codes (11 Of 11), Symptom Tests & Circuit Tests) >> ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for HV Model) >> Zero Point Calibration of Steering Angle Sensor Malfunction (X20D7) [12/2019 - ] >> Procedure

Zero Point Calibration of Steering Angle Sensor Malfunction (X20D7) [12/2019 - ]: Procedure

WARNING: This page is about a different variant/trim than selected.
  1. CHECK DTC (HEALTH CHECK) 
    1. Perform the Health Check using the GTS.

      Result

      Result Proceed to
      DTCs are not output. A
      DTCs are output. B

    Result: 

    B 

    GO TO DIAGNOSTIC TROUBLE CODE CHART. Refer to  DIAGNOSTIC TROUBLE CODE CHART [12/2019 - 10/2021]  , or Refer To  DIAGNOSTIC TROUBLE CODE CHART [10/2021 - 11/2023]  , or Refer To  DIAGNOSTIC TROUBLE CODE CHART [11/2023 - ] 

    Result: 

    A 

    See step  2

  2. CLEAR VEHICLE CONTROL HISTORY 
    1. Using the GTS, clear the Vehicle Control History.

      Chassis > Brake/EPB > Utility 

      Tester Display
      Vehicle Control History (RoB)

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  3

  3. CLEAR ZERO POINT VALUE FOR YAW RATE AND ACCELERATION SENSOR 
    1. Clear the zero point value for the yaw rate and acceleration sensor.

      Refer to UTILITY [12/2019 - 11/2023] , or refer to UTILITY [11/2023 - ]

      Chassis > Brake/EPB > Utility 

      Tester Display
      Reset Memory

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  4

  4. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR 
    1. Perform zero point calibration of the yaw rate and acceleration sensor.

      Refer to UTILITY [12/2019 - 11/2023] , or refer to UTILITY [11/2023 - ]

      Chassis > Brake/EPB > Utility 

      Tester Display
      Calibration

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  5

  5. CHECK ZERO POINT CALIBRATION OF STEERING ANGLE SENSOR 
    1. Drive the vehicle straight ahead at 35 km/h (22 mph) or more for at least 5 seconds.
    2. Drive the vehicle at 15 km/h (9 mph) or more for at least 60 seconds.
    3. Check that the centered position of the steering wheel is correctly set while driving straight ahead.

      OK

      The steering wheel is centered correctly.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    See step  8

    Result: 

    OK 

    See step  6

  6. INSPECT STEERING SYSTEM 

    Refer to ON-VEHICLE INSPECTION [12/2019 - ]

    OK

    Normal.

    Result

    Proceed to
    OK
    NG

    Result: 

    OK 

    USE SIMULATION METHOD TO CHECK 

    Refer to HOW TO PROCEED WITH TROUBLESHOOTING [12/2019 - ]

    Result: 

    NG 

    See step  7

  7. REPAIR OR REPLACE MALFUNCTIONING PART 

    Result

    Proceed to
    NEXT

    Result: 

    NEXT 

    See step  9

  8. ADJUST WHEEL ALIGNMENT 

    for Front: Refer to ADJUSTMENT [12/2019 - 09/2020] , or refer to ADJUSTMENT [09/2020 - 10/2022] , or refer to ADJUSTMENT [10/2022 - 11/2023] , or refer to ADJUSTMENT [11/2023 - 11/2024] , or refer to ADJUSTMENT [11/2024 - ]

    for Rear: Refer to ADJUSTMENT [12/2019 - 09/2020] , or refer to ADJUSTMENT [09/2020 - 10/2022] , or refer to ADJUSTMENT [10/2022 - 11/2023] , or refer to ADJUSTMENT [11/2023 - 11/2024] , or refer to ADJUSTMENT [11/2024 - ]

    Result

    Proceed to
    NEXT

    Result: 

    NEXT 

    See step  9

  9. CLEAR VEHICLE CONTROL HISTORY 
    1. Using the GTS, clear the Vehicle Control History.

      Chassis > Brake/EPB > Utility 

      Tester Display
      Vehicle Control History (RoB)

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  10

  10. CLEAR ZERO POINT VALUE FOR YAW RATE AND ACCELERATION SENSOR 
    1. Clear the zero point value for the yaw rate and acceleration sensor.

      Refer to UTILITY [12/2019 - 11/2023] , or refer to UTILITY [11/2023 - ]

      Chassis > Brake/EPB > Utility 

      Tester Display
      Reset Memory

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  11

  11. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR 
    1. Perform zero point calibration of the yaw rate and acceleration sensor.

      Refer to UTILITY [12/2019 - 11/2023] , or refer to UTILITY [11/2023 - ]

      Chassis > Brake/EPB > Utility 

      Tester Display
      Calibration

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  12

  12. PERFORM ZERO POINT CALIBRATION OF STEERING ANGLE SENSOR 
    1. Drive the vehicle straight ahead at 35 km/h (22 mph) or more for at least 5 seconds.
    2. Drive the vehicle at 15 km/h (9 mph) or more for at least 60 seconds.

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  13

  13. CHECK VEHICLE CONTROL HISTORY 
    1. Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.
    2. Using the GTS, check for Vehicle Control History.

      Chassis > Brake/EPB > Utility 

      Tester Display
      Vehicle Control History (RoB)

      Result

      Result Proceed to
      Vehicle Control History is not output. A
      Vehicle Control History is output. B

    Result: 

    A 

    END 

    Result: 

    B 

    GO TO VEHICLE CONTROL HISTORY 

    Refer to VEHICLE CONTROL HISTORY [12/2019 - 11/2023] , or refer to VEHICLE CONTROL HISTORY [11/2023 - ]

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