Toyota Yaris: Vehicle Stability Control System / Multi-axis Acceleration Sensor Module "A" Missing Calibration (C051D54,C121054)

Toyota Yaris XP210 (2020-2024) Reapir and Service Manual / Brake / Brake Control / Dynamic Control Systems / Vehicle Stability Control System / Multi-axis Acceleration Sensor Module "A" Missing Calibration (C051D54,C121054)

DESCRIPTION

The airbag sensor assembly has a built-in yaw rate and acceleration sensor and detects the vehicle condition.

The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag sensor assembly) via CAN communication.

HINT:

If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag sensor assembly) and the CAN communication system, DTCs U012587 are output. When DTCs U012587 are 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

DTC Output from

C051D54

Multi-axis Acceleration Sensor Module "A" Missing Calibration

Zero point calibration of acceleration sensor undone.
  • Acceleration sensor zero point not calibrated
  • Acceleration sensor (airbag sensor assembly) installation
  • Acceleration sensor (airbag sensor assembly)
  • Skid control ECU (brake actuator assembly)

Brake

C121054

Yaw Rate Sensor Missing Calibration

Zero point calibration of yaw rate sensor undone.

Yaw rate sensor zero point not calibrated

Brake

CAUTION / NOTICE / HINT

NOTICE:

  • After replacing the skid control ECU (brake actuator assembly), perform "Calibration".

    Click here

PROCEDURE

1.

CHECK GTS OUTPUT (CAN COMMUNICATION SYSTEM)

(a) Operate the GTS, and check for DTCs related to the CAN communication system.

Click here

Result

Proceed to

Any CAN communication system relating DTCs are output

A

None of the above conditions are met

B
A

INSPECT CAN COMMUNICATION SYSTEM

B

2.

PERFORM CALIBRATION

(a) Operate the GTS to perform "Calibration".

Click here

Chassis > Brake > Utility

Tester Display

Calibration
NEXT

3.

CLEAR DTC

(a) Operate the GTS to clear the codes.

Chassis > Brake > Clear DTCs

(b) Press the DTC clear button.

(c) Turn the ignition switch off.

NEXT

4.

RECONFIRM DTC

(a) Operate the GTS to read the DTCs.

Chassis > Brake > Trouble Codes

(b) Check if the same DTC is output.

Result

Proceed to

C051D54 and C121054 are not output

A

C051D54 or C121054 is output

B
A

END
B

5.

CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION

(a) Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.

Click here

OK:

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

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

NG

INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY

OK

6.

READ VALUE USING GTS (YAW RATE SENSOR VALUE)

(a) Operate the GTS to check the Data List.

Chassis > Brake > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

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 > Data List

Tester Display

Yaw Rate Sensor Value

(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.

OK:

The yaw rate sensor value is normal.

NG

REPLACE AIRBAG SENSOR ASSEMBLY

OK

7.

READ VALUE USING GTS (LATERAL G)

(a) Operate the GTS to check the Data List.

Chassis > Brake > 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
Chassis > Brake > Data List

Tester Display

Lateral G

(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.

OK:

The lateral G value is normal.

NG

REPLACE AIRBAG SENSOR ASSEMBLY

OK

8.

READ VALUE USING GTS (FORWARD AND REARWARD G)

(a) Operate the GTS to check the Data List.

Chassis > Brake > Data List

Tester Display

Measurement Item

Range

Normal Condition

Diagnostic Note

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
Chassis > Brake > Data List

Tester Display

Forward and Rearward G

(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.

OK:

The forward and rearward G value is normal.

OK

REPLACE BRAKE ACTUATOR ASSEMBLY

NG

REPLACE AIRBAG SENSOR ASSEMBLY

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