With Consult-II

WARNING: This page is about a different car, the 2007 Nissan Pathfinder. However, it is still accessible from the selected car via links, so may be relevant.

Start engine and warm it up to normal operating temperature.
Turn ignition switch OFF and wait at least 10 seconds.
Turn ignition switch ON and select "SELF-LEARNING CONT" in "WORK SUPPORT" mode with CONSULT-II.

Fig 1: Identifying CONSULT-II Display - WORK SUPPORT
Courtesy of NISSAN NORTH AMERICA, INC.
Clear the self-learning coefficient by touching "CLEAR".
Turn ignition switch OFF and wait at least 10 seconds.
Start engine and keep the engine speed between 3, 500 and 4, 000 rpm for 1 minute under no load.
Let engine idle for 1 minute.
Keep engine speed between 2, 500 and 3, 000 rpm for 20 minutes.
If 1st trip DTC is detected, go to "DIAGNOSTIC PROCEDURE ".