| Last Modified: 01-30-2024 | 6.11:8.1.0 | Doc ID: RM10000000214PD |
| Model Year Start: 2022 | Model: RAV4 | Prod Date Range: [12/2021 - ] |
| Title: BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): C051D54,C121054; Multi-axis Acceleration Sensor Module "A" Missing Calibration; 2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ] | ||
|
DTC |
C051D54 |
Multi-axis Acceleration Sensor Module "A" Missing Calibration |
|
DTC |
C121054 |
Yaw Rate Sensor Missing Calibration |
DESCRIPTION
The yaw rate and acceleration sensor has a built-in airbag ECU assembly.
The No. 2 skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag ECU assembly) via CAN communication.
HINT:
If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag ECU assembly) and the CAN communication system, DTC U012587 is output. When DTC U012587 is output together with C051D54 and/or C121054, inspect and repair the trouble areas indicated by U012587 first.
These DTCs are also output when the calibration has not been completed.
|
DTC No. |
Detection Item |
DTC Detection Condition |
Trouble Area |
MIL |
Note |
|---|---|---|---|---|---|
|
C051D54 |
Multi-axis Acceleration Sensor Module "A" Missing Calibration |
Zero point calibration of acceleration sensor undone. |
|
Does not come on |
Output ECU: No. 2 skid control ECU (brake actuator assembly) |
|
C121054 |
Yaw Rate Sensor Missing Calibration |
Zero point calibration of yaw rate sensor undone. |
|
Does not come on |
Output ECU: No. 2 skid control ECU (brake actuator assembly) |
CAUTION / NOTICE / HINT
NOTICE:
-
After replacing the No. 2 skid control ECU (brake actuator assembly), perform "Calibration" after performing "Reset Memory".
Click here
![2022 - 2024 MY RAV4 RAV4 HV [12/2021 - ]; BRAKE CONTROL / DYNAMIC CONTROL SYSTEMS: ELECTRONICALLY CONTROLLED BRAKE SYSTEM (w/o Vacuum Brake Booster): UTILITY](/t3Portal/stylegraphics/info.gif)
-
After replacing or reinstalling the yaw rate and acceleration sensor (airbag ECU assembly), perform "Calibration" after performing "Reset Memory".
Click here
PROCEDURE
|
1. |
PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR |
(a) Perform zero point calibration of the yaw rate and acceleration sensor (airbag ECU assembly).
Click here
Chassis > Brake/EPB > Utility
|
Tester Display |
|---|
|
Calibration |
|
|
2. |
CLEAR DTC |
(a) Clear the DTCs.
Chassis > Brake/EPB > Clear DTCs
(b) Turn the ignition switch off.
|
|
3. |
RECONFIRM DTC |
(a) Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.
(b) Check if the same DTC is output.
Chassis > Brake/EPB > Trouble Codes
|
Result |
Proceed to |
|---|---|
|
DTCs C051D54 and C121054 are not output. |
A |
|
DTCs C051D54 and/or C121054 are output. |
B |
| A |
|
END |
|
|
4. |
CHECK AIRBAG ECU ASSEMBLY |
(a) Turn the ignition switch off.
(b) Check that the yaw rate and acceleration sensor (airbag ECU assembly) has been installed properly.
Click here
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.
| NG |
|
|
|
5. |
READ VALUE USING GTS (YAW RATE AND ACCELERATION SENSOR) |
(a) 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.
| OK |
|
REPLACE BRAKE ACTUATOR ASSEMBLY
|
| NG |
|
REPLACE AIRBAG ECU ASSEMBLY
|
|
|