Toyota Yaris: Steering Angle Sensor / Installation

Toyota Yaris XP210 (2020-2026) Reapir and Service Manual / Brake / Brake Control / Dynamic Control Systems / Steering Angle Sensor / Installation

INSTALLATION

CAUTION / NOTICE / HINT

NOTICE:

After performing the update ECU security key procedure, make sure to perform the initialization procedure for when the cable has been disconnected and reconnected to the negative (-) auxiliary battery terminal.

PROCEDURE

1. INSPECT SPIRAL CABLE WITH SENSOR SUB-ASSEMBLY

Click here

2. INSTALL STEERING SENSOR

(a) Align the 2 pins and 2 guides, and engage the 6 claws to install the steering sensor to the spiral cable sub-assembly.

NOTICE:

  • Do not remove the lock pin before the steering sensor is installed to the spiral cable sub-assembly.
  • Do not damage the pins of the spiral cable sub-assembly or guides of the steering sensor.
  • The spiral cable sub-assembly can be rotated up to 30° even when the interlock is engaged. Therefore, make sure that both guides are aligned properly when installing the steering sensor to the spiral cable sub-assembly.

*a

Guide

*b

Pin

*c

Lock Pin

(b) Remove the lock pin from the steering sensor.

3. PLACE FRONT WHEELS FACING STRAIGHT AHEAD

4. INSTALL SPIRAL CABLE WITH SENSOR SUB-ASSEMBLY

Click here

5. INSTALL UPPER STEERING COLUMN COVER

Click here

6. INSTALL LOWER STEERING COLUMN COVER

Click here

7. ADJUST SPIRAL CABLE WITH SENSOR SUB-ASSEMBLY

Click here

8. INSTALL STEERING WHEEL ASSEMBLY

Click here

9. INSTALL HORN BUTTON ASSEMBLY

Click here

10. CONNECT CABLE TO NEGATIVE AUXILIARY BATTERY TERMINAL

Click here

11. UPDATE ECU SECURITY KEY

Click here

12. INSPECT HORN BUTTON ASSEMBLY

Click here

13. PERFORM DIAGNOSTIC SYSTEM CHECK

Click here

14. CHECK SRS WARNING LIGHT

Click here

15. PERFORM CALIBRATION

Click here

16. INITIALIZATION AFTER RECONNECTING AUXILIARY BATTERY TERMINAL

HINT:

When disconnecting and reconnecting the auxiliary battery, there is an automatic learning function that completes learning when the respective system is used.

Click here

    Removal

    REMOVAL CAUTION / NOTICE / HINT The necessary procedures (adjustment, calibration, initialization, or registration) that must be performed after parts are removed, installed, or replaced during the steering angle sensor removal/installation are shown below...

    Vehicle Stability Control System

    ..

    Other information:

    Toyota Yaris XP210 (2020-2026) Reapir and Service Manual: Power Steering Control Module Processor System Internal Failure (C05D604,...,C15D362)


    DESCRIPTION DTC No. Detection Item DTC Detection Condition Trouble Area Warning Indicate Return-to-normal Condition Note C05D604 Power Steering Control Module Processor System Internal Failure ECU internal malfunction (CPU malfunction) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C05D646 Power Steering Control Module Processor Calibration / Parameter Memory Failure ECU internal malfunction (EEPROM error) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C05D649 Power Steering Control Module Processor Internal Electronic Failure ECU internal malfunction (Peripheral circuit malfunction) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C10001C Control Module Internal Temperature Sensor "A" Circuit Voltage Out of Range ECU temperature sensor "A" range malfunction Power steering ECU assembly EPS warning light: Comes on The ECU judges the system has returned to normal - C152A18 Power Steering Motor "A" Circuit Current Below Threshold Motor "A" low current malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C152A19 Power Steering Motor "A" Circuit Current Above Threshold Motor "A" overcurrent Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C152B18 Power Steering Motor "B" Circuit Current Below Threshold Motor "B" low current malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C152B19 Power Steering Motor "B" Circuit Current Above Threshold Motor "B" overcurrent Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C153A00 Malfunction of Power Steering Motor "A" Inverter Pre-Driver Inverter "A" pre-driver circuit malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C153A19 Power Steering Motor "A" Inverter Circuit Current Above Threshold Inverter "A" short circuit malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C153B00 Malfunction of Power Steering Motor "B" Inverter Pre-Driver Inverter "B" pre-driver circuit malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C153B19 Power Steering Motor "B" Inverter Circuit Current Above Threshold Inverter "B" short circuit malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C154A7E Power Supply & Contrary Connection Protection Relay "A" Actuator Stuck On Contrary connection protection relay "A" short circuit malfunction (initial check) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C154A7F Power Supply & Contrary Connection Protection Relay "A" Actuator Stuck Off Contrary connection protection relay "A" open circuit malfunction (initial check) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C154B7E Power Supply & Contrary Connection Protection Relay "B" Actuator Stuck On Contrary connection protection relay "B" short circuit malfunction (initial check) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C154B7F Power Supply & Contrary Connection Protection Relay "B" Actuator Stuck Off Contrary connection protection relay "B" open circuit malfunction (initial check) Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C157A11 Power Steering Motor "A" Current Sensor Circuit Short to Ground Motor "A" current sensor low voltage malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C157A62 Power Steering Motor "A" Current Sensor Signal Compare Failure Motor "A" current sensor correlation malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C157B11 Power Steering Motor "B" Current Sensor Circuit Short to Ground Motor "B" current sensor low voltage malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C157B62 Power Steering Motor "B" Current Sensor Signal Compare Failure Motor "B" current sensor correlation malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D11C Power Steering Motor Position Sensor "A" Circuit Voltage Out of Range Rotation angle sensor "A" range malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D162 Power Steering Motor Position Sensor "A" Signal Compare Failure Rotation angle sensor "A" correlation malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D21C Power Steering Motor Position Sensor "B" Circuit Voltage Out of Range Rotation angle sensor "B" range malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D262 Power Steering Motor Position Sensor "B" Signal Compare Failure Rotation angle sensor "B" correlation malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D31C Power Steering Motor Position Sensor "C" Circuit Voltage Out of Range Rotation angle sensor "C" range malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - C15D362 Power Steering Motor Position Sensor "C" Signal Compare Failure Rotation angle sensor "C" correlation malfunction Power steering ECU assembly EPS warning light: Comes on Ignition switch ON again - CAUTION / NOTICE / HINT NOTICE: When the power steering ECU assembly has been replaced, perform Power Steering ECU Initial Setting (assist map writing)...

    Toyota Yaris XP210 (2020-2026) Reapir and Service Manual: Removal


    REMOVAL CAUTION / NOTICE / HINT NOTICE: To avoid degrading the precision of the assembly, do not loosen or remove the 2 bolts shown in the illustration. If the bolts have been loosened or removed, use the following procedure to reassemble the parts...

    Categories

    Key Suspend Function

    If a key is left in the vehicle, the functions of the key left in the vehicle are temporarily suspended to prevent theft of the vehicle.

    To restore the functions, press the unlock button on the functions-suspended key in the vehicle.

    read more

     
    Copyright © 2026 www.toyaris4.com