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Home >> Toyota >> 2021 >> Highlander LE, 4WD >> Repair and Diagnosis >> Brakes >> Mechanical - Hydraulic >> Electronically Controlled Brake System (Except HV) - Diagnostic Codes (2 Of 3) >> ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for Gasoline Model) >> DTC C051D-54: Multi-axis Acceleration Sensor Module "A" Missing Calibration; DTC C1210-54: Yaw Rate Sensor Missing Calibration [12/2019 - ] >> Procedure

DTC C051D-54: Multi-axis Acceleration Sensor Module "A" Missing Calibration; DTC C1210-54: Yaw Rate Sensor Missing Calibration [12/2019 - ]: Procedure

  1. PERFORM CALIBRATION 
    1. Perform calibration.

      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  2

  2. CLEAR DTC 
    1. Clear the DTCs.

      Chassis > Brake/EPB > Clear DTCs 

    2. Turn the ignition switch off.

      Result

      Proceed to
      NEXT

    Result: 

    NEXT 

    See step  3

  3. RECONFIRM DTC 
    1. Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.
    2. Check if the same DTC is output.

      Chassis > Brake/EPB > Trouble Codes 

      Result

      Result Proceed to
      DTCs C051D-54 and C1210-54 are not output. A
      DTCs C051D-54 and/or C1210-54 are output. B

    Result: 

    A 

    END 

    Result: 

    B 

    See step  4

  4. CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION 
    1. Turn the ignition switch off.
    2. Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.

      Refer to INSTALLATION [12/2019 - 10/2022] , or refer to INSTALLATION [10/2022 - 11/2023] , or refer to INSTALLATION [11/2023 - ]

      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.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY. Refer to  INSTALLATION [12/2019 - 10/2022]  , or refer to  INSTALLATION [10/2022 - 11/2023]  , or refer to  INSTALLATION [11/2023 - ] 

    Result: 

    OK 

    See step  5

  5. READ VALUE USING GTS (YAW RATE AND ACCELERATION SENSOR) 
    1. Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.

      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 (airbag sensor assembly) Min.: -128°/s
      Max.: 127°/s      		 Vehicle stopped: 0°/s
      Turning right: -128 to 0°/s
      Turning left: 0 to 127°/s      		 -

      Chassis > Brake/EPB > Data List 

      Tester Display
      Lateral G
      Forward and Rearward G
      Yaw Rate Sensor Value

      OK

      The yaw rate and acceleration sensor (airbag sensor assembly) output value is normal.

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE BRAKE ACTUATOR ASSEMBLY. Refer to  REMOVAL [12/2019 - 10/2022]  , or refer to  REMOVAL [10/2022 - 11/2023]  , or refer to  REMOVAL [11/2023 - ] 

    Result: 

    NG 

    REPLACE AIRBAG SENSOR ASSEMBLY. Refer to  REMOVAL [12/2019 - 10/2022]  , or refer to  REMOVAL [10/2022 - 11/2023]  , or refer to  REMOVAL [11/2023 - ] 

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