DTC P2121: Throttle / Pedal Position Sensor / Switch "D" Circuit Range / Performance [08/2015 - 08/2018]: Fail-Safe
WARNING: This page is about a different car, the 2018 Toyota Sequoia, 2017 Toyota Sequoia, and 2016 Toyota Sequoia. However, it is still accessible from the selected car via links, so may be relevant.
The APP sensor has two (main and sub) sensor circuits. If a malfunction occurs in either of the sensor circuits, the ECM detects the abnormal signal voltage difference between the two sensor circuits and switches to limp mode. In limp mode, the functioning circuit is used to calculate the accelerator pedal opening angle to allow the vehicle to continue driving. If both circuits malfunction, the ECM regards the opening angle of the accelerator pedal as being fully closed. In this case, the throttle valve remains closed as if the engine is idling.
If a pass condition is detected and then the ignition switch is turned off, the fail-safe operation stops and the system returns to a normal condition.