July 1: So it begins. Don't worry, this is not in the correct legal jurisdiction!

DTC 21,22,23,24: Magnetic Encoder

Clear the DTC using the HDS (see HOW TO TROUBLESHOOT DTCS ).
Disconnect the HDS from the 16P DLC.
Test-drive the vehicle at 19 mph (30 km/h) or more.
Does the ABS indicator come on, and are DTCs 21, 22,23, and/or 24 indicated?
1. YES- Go to step 4.
2. NO- Intermittent failure, the system is OK at this time (see HOW TO TROUBLESHOOT DTCS ).

Check the appropriate wheel sensor and magnetic encoder (see table) (see WHEEL SENSOR INSPECTION ).

TERMINAL DIAGNOSTIC CHART

DTC	Appropriate Wheel Sensor
21	Right-front
22	Left-front
23	Right-rear
24	Left-rear

Is the encoder OK?

YES- Go to step 5.
NO- Replace the encoder/wheel sensor (see WHEEL SENSOR REPLACEMENT ).

Check that the encoders are installed correctly, and free from debris:
- Front encoder (see KNUCKLE/HUB/WHEEL BEARING REPLACEMENT )
- Rear encoder (see KNUCKLE/HUB/WHEEL BEARING REPLACEMENT )
Are they clean and installed correctly?
1. YES- Check for loose terminals in the ABS modulator-control unit 47P connector. If necessary, substitute a known-good ABS modulator-control unit, and recheck.
2. NO- Clean and reinstall or replace the appropriate encoder.