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Home >> Toyota >> 2021 >> Highlander LE, 4WD >> Repair and Diagnosis >> External Pages >> Different variant/trim >> Section 104 (Electronically Controlled Brake System (HV) - Diagnostic Codes (03 Of 11)) >> ELECTRONICALLY CONTROLLED BRAKE SYSTEM (for HV Model) >> DTC C051D-00: Multi-axis Acceleration Sensor Module "A" [12/2019 - 10/2021] >> Procedure

DTC C051D-00: Multi-axis Acceleration Sensor Module "A" [12/2019 - 10/2021]: Procedure

WARNING: This page is about a different variant/trim than selected.
  1. PERFORM ZERO POINT CALIBRATION OF ACCELERATION SENSOR 
    1. Perform zero point calibration of the acceleration sensor (yaw rate sensor).

      Refer to UTILITY [12/2019 - 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
      DTC C051D-00 is not output. A
      DTC C051D-00 is output. B

    Result: 

    A 

    END 

    Result: 

    B 

    See step  4

  4. CHECK YAW RATE SENSOR INSTALLATION 
    1. Turn the ignition switch off.
    2. Check that the acceleration sensor (yaw rate sensor) has been installed properly.

      Refer to INSTALLATION [12/2019 - 11/2023]

      OK

      The acceleration sensor (yaw rate sensor) is tightened to the specified torque.

      The acceleration sensor (yaw rate sensor) is not installed in a tilted position.

      Result

      Proceed to
      OK
      NG

    Result: 

    NG 

    INSTALL YAW RATE SENSOR CORRECTLY. Refer to  INSTALLATION [12/2019 - 11/2023] 

    Result: 

    OK 

    See step  5

  5. READ VALUE USING GTS (ACCELERATION SENSOR) 
    1. Check the acceleration sensor (yaw rate sensor) 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

      Chassis > Brake/EPB > Data List 

      Tester Display
      Lateral G
      Forward and Rearward G

      OK

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

      Result

      Proceed to
      OK
      NG

    Result: 

    OK 

    REPLACE BRAKE ACTUATOR ASSEMBLY. Refer to  REMOVAL [12/2019 - 10/2022] 

    Result: 

    NG 

    REPLACE YAW RATE SENSOR. Refer to  REMOVAL [12/2019 - 11/2023] 

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