DTC C051D-54: Multi-axis Acceleration Sensor Module "A" Missing Calibration; DTC C1210-54: Yaw Rate Sensor Missing Calibration [12/2019 - 11/2023]: Procedure

1. Perform zero point calibration of the yaw rate and acceleration sensor.

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

   Chassis > Brake/EPB > Utility 

   Tester Display
   Calibration

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  2

1. Clear the DTCs.

   Chassis > Brake/EPB > Clear DTCs 

2. Turn the ignition switch off.

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  3

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

1. Turn the ignition switch off.
2. Check that the yaw rate sensor has been installed properly.

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

   OK

   The yaw rate sensor is tightened to the specified torque.

   The 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

1. Check the yaw rate and acceleration 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
   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	-

   Chassis > Brake/EPB > Data List 

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

   OK

   The yaw rate and acceleration sensor 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] 

Result: 

NG 

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