DTC 21: Right-Front Magnetic Encoder Malfunction; DTC 22: Left-Front Magnetic Encoder Malfunction; DTC 23: Right-Rear Magnetic Encoder Malfunction; DTC 24: Left-Rear Magnetic Encoder Malfunction

NOTE: Before you troubleshoot, record all freeze data and any on-board snapshot, and review the general troubleshooting information (see GENERAL TROUBLESHOOTING INFORMATION ).

Turn the ignition switch to ON (II), or press the engine start/stop button to select the ON mode.
Clear the DTC with the HDS.
Turn the ignition switch to LOCK (0), or press the engine start/stop button to select the OFF mode.
Test-drive the vehicle at 19 mph (30 km/h) or more.
NOTE: Drive the vehicle on the road, not on a lift.
Check for DTCs with the HDS.
Is DTC 21, 22, 23, or 24 indicated?

YES - Go to step 6.

NO - Intermittent failure, the system is OK at this time. Refer to INTERMITTENT FAILURES TROUBLESHOOTING .

Inspect the appropriate magnetic encoder for damage, debris, and correct installation.

DTC	Appropriate Magnetic Encoder	Note
21	Right-front	Remove the driveshaft outboard joint from the appropriate wheel hub (see KNUCKLE/HUB REPLACEMENT ).
22	Left-front
23	Right-rear	Remove the hub bearing unit (see HUB BEARING UNIT REPLACEMENT ).
24	Left-rear

Is the magnetic encoder OK?

YES - Go to step 7.

NO - Remove the debris from the magnetic encoder, or replace the wheel bearing (front) or the hub bearing unit (rear):

Front: Replace the front wheel bearing (see WHEEL BEARING REPLACEMENT ).
Rear: Replace the rear hub bearing unit (see HUB BEARING UNIT REPLACEMENT ).

Update the VSA modulator-control unit if it does not have the latest software (see VSA MODULATOR-CONTROL UNIT UPDATE ).
Turn the ignition switch to LOCK (0), or press the engine start/stop button to select the OFF mode.
Test-drive the vehicle at 19 mph (30 km/h) or more.
NOTE: Drive the vehicle on the road, not on a lift.
Check for DTCs with the HDS.
Is DTC 21, 22, 23, or 24 indicated?

YES - Check for loose terminals in the VSA modulator-control unit 47P connector. If the VSA modulator-control unit was updated and the symptom/indication is still present, replace the VSA modulator-control unit (see VSA MODULATOR-CONTROL UNIT REMOVAL AND INSTALLATION ).

NO - If the VSA modulator-control unit was updated, troubleshooting is complete. If any other DTCs are indicated, go to the indicated DTCS TROUBLESHOOTING .