Conditions For Clearing DTC

WARNING: This page is about a different car, the 2002 Pontiac Montana, 2002 Oldsmobile Silhouette, and 2002 Chevrolet Venture. However, it is still accessible from the selected car via links, so may be relevant.

The PCM turns OFF the MIL lamp after 3 consecutive ignition cycles that the diagnostic runs and passes.
A current, DTC last test fails, clears when the diagnostic runs and passes.
A DTC stored in history clears after 40 warm-up cycles, if no failures are reported by this or any other emission related diagnostic.
A scan tool can be used to clear the DTC.