Zero Point Calibration of Yaw Rate Sensor Undone (X204C) [06/2020 - ]: Procedure

1. Perform the Health Check using the GTS.

   Result

   Result	Proceed to
   DTCs are not output.	A
   DTCs are output.	B

Result: 

B 

GO TO DIAGNOSTIC TROUBLE CODE CHART  . Refer to DIAGNOSTIC TROUBLE CODE CHART [06/2020 - 12/2021] or DIAGNOSTIC TROUBLE CODE CHART [12/2021 - 10/2022] or DIAGNOSTIC TROUBLE CODE CHART [10/2022 - 10/2023] or DIAGNOSTIC TROUBLE CODE CHART [10/2023 - ] .

Result: 

A 

See step  2

1. Clear the zero point value for the yaw rate and acceleration sensor.

   Refer to UTILITY [06/2020 - ]

   Chassis > Brake/EPB > Utility 

   Tester Display
   Reset Memory

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  3

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

   Refer to UTILITY [06/2020 - ]

   Chassis > Brake/EPB > Utility 

   Tester Display
   Calibration

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  4

1. Using the GTS, clear the Vehicle Control History (RoB).

   Chassis > Brake/EPB > Utility 

   Tester Display
   Vehicle Control History (RoB)

   Result

   Proceed to
   NEXT

Result: 

NEXT 

See step  5

1. Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.
2. Using the GTS, check for Vehicle Control History (RoB).

   Chassis > Brake/EPB > Utility 

   Tester Display
   Vehicle Control History (RoB)

   Result

   Result	Proceed to
   X204C is not output.	A
   X204C is output.	B

Result: 

A 

END 

Result: 

B 

See step  6

1. Turn the ignition switch off.
2. Check that the yaw rate and acceleration sensor (airbag ECU assembly) has been installed properly.

   Refer to INSTALLATION [06/2020 - 10/2022] , or refer to INSTALLATION [10/2022 - ]

   OK

   The yaw rate and acceleration sensor (airbag ECU assembly) is tightened to the specified torque.

   The yaw rate and acceleration sensor (airbag ECU assembly) is not installed in a tilted position.

   Result

   Proceed to
   OK
   NG

Result: 

NG 

INSTALL AIRBAG ECU ASSEMBLY CORRECTLY. Refer to  INSTALLATION [06/2020 - 10/2022]  , or refer to  INSTALLATION [10/2022 - ] 

Result: 

OK 

See step  7

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 (airbag ECU assembly) output value is normal.

   Result

   Proceed to
   OK
   NG

Result: 

OK 

REPLACE BRAKE ACTUATOR ASSEMBLY. Refer to  REMOVAL [06/2020 - 12/2021]  , or refer to  REMOVAL [12/2021 - 10/2022]  , or refer to  REMOVAL [10/2022 - ] 

Result: 

NG 

REPLACE AIRBAG ECU ASSEMBLY. Refer to  REMOVAL [06/2020 - 12/2021]  , or refer to  REMOVAL [12/2021 - 10/2022]  , or refer to  REMOVAL [10/2022 - ]