Diagnostic Procedure

STEP	INSPECTION		ACTION
1	INSPECT PID FOR ABS WHEEL-SPEED SENSOR OUTPUT ERROR USING M-MDS Switch the ignition to off. Connect the M-MDS to the DLC-2. Select the following PIDs using the M-MDS: WSPD_LF WSPD_LR WSPD_RF WSPD_RR Drive the vehicle. Verify that the vehicle speeds detected by the four ABS wheel-speed sensors are approximately the same. Are the vehicle speeds approximately the same?	Yes	Go to Step 3.
1		No	Go to the next step.
2	INSPECT FOR SHORT TO GROUND BETWEEN ABS WHEEL-SPEED SENSOR CONNECTORS AND GROUND Disconnect the ABS wheel-speed sensor connectors. Inspect for no continuity between the following ABS wheel-speed sensor connector terminals (vehicle harness-side) and body ground: ABS wheel-speed sensor (RF): B-Body ground ABS wheel-speed sensor (LF): B-Body ground ABS wheel-speed sensor (RR): B-Body ground ABS wheel-speed sensor (LR): B-Body ground Is the continuity normal?	Yes	Go to the next step.
2		No	Repair or replace the wiring harness, then go to Step 5.
3	INSPECT IF MALFUNCTION OCCURRED DUE TO IMPROPER SENSOR CLEARANCE. Inspect the clearance between the ABS wheel-speed sensor and the ABS sensor rotor. (See FRONT ABS WHEEL-SPEED SENSOR INSPECTION .) (See REAR ABS WHEEL-SPEED SENSOR INSPECTION .) Is the clearance normal?	Yes	Go to the next step.
3		No	Replace the ABS wheel-speed sensor, then go to Step 5. (See FRONT ABS WHEEL-SPEED SENSOR REMOVAL/INSTALLATION .) (See REAR ABS WHEEL-SPEED SENSOR REMOVAL/INSTALLATION .)
4	VISUALLY INSPECT ABS SENSOR ROTOR FOR FOREIGN MATERIAL ADHERING OR IMPROPER INSTALLATION Is the result normal?	Yes	Go to the next step.
4		No	Replace the front wheel bearing or the rear wheel hub component, then go to the next step. Front wheel bearing (See WHEEL HUB, STEERING KNUCKLE REMOVAL/INSTALLATION .) (See WHEEL HUB, STEERING KNUCKLE DISASSEMBLY/ASSEMBLY .) Rear wheel hub component (See WHEEL HUB COMPONENT REMOVAL/INSTALLATION .)
5	VERIFY THAT THE SAME DTC IS NOT PRESENT Reconnect all disconnected connectors. Clear the DTCs from the memory. (See ON-BOARD DIAGNOSIS [DYNAMIC STABILITY CONTROL (DSC)] .) Start the engine and drive the vehicle at 10 km/h {6.2 mph} or more . Are the same DTCs present?	Yes	Repeat the inspection from Step 1. If the malfunction recurs, replace the DSC HU/CM, then go to the next step. (See DSC HU/CM REMOVAL/INSTALLATION .)
5		No	Go to the next step.
6	VERIFY THAT NO OTHER DTCS ARE PRESENT Are any other DTCs output?	Yes	Go to the applicable DTC inspection. (See ON-BOARD DIAGNOSIS [DYNAMIC STABILITY CONTROL (DSC)] .)
6		No	DTC troubleshooting completed.