Repair Instruction: Initialization

Procedures necessary when battery terminal is disconnected/reconnected

DIAGNOSIS PROCEDURE TABLE

Necessary Procedures	Procedure Details	Effects/Inoperative Functions When Necessary Procedures are not Performed	Notes
Navigation system (for DVD) initialization	After turning the engine switch ON (IG), insert the map disc.	Navigation system (for DVD)	If the map disc is inside when disconnecting the cable from the battery terminal, this procedure is not necessary
Correction of steering angle neutral point	Fully turn the steering wheel to the right and left.	Parking guidance function	-
Rear curtain position reset operation	Turn the engine switch ON (IG). Push the front or rear switch's rear door sunshade switch twice.	Rear curtain	-
Reset power trunk lid system	Completely close the luggage compartment door by hand once.	Power trunk lid function	It is not necessary to perform initialization if the negative (-) battery cable is disconnected while the luggage compartment door is closed.

NOTE: After the engine switch is turned off, the HDD navigation system requires approximately 6 minutes to record various types of memory and settings. As a result, after turning the engine switch off, wait 6 minutes or more before disconnecting the cable from the negative (-) battery terminal.

Procedures necessary when ECU or other parts are replaced

REPLACEMENT PART TABLE

Replacement Part	Necessary Procedures	Effects / Inoperative Functions When Necessary Procedures are not Performed	Notes
Automatic transmission assembly	Set transmission compensation code Learning by driving (Road test) Reset memory	Large shift shock Engine overruns	-
Valve body assembly Shift solenoid valve SL1, 2, 3, 4,5	Learning by driving (Road test)	Large shift shock Engine overruns	-
TCM	Set transmission compensation code Learning by driving (Road test)	Large shift shock Engine overruns	-
Engine assembly ECM	Reset memory Learning by driving (Road test)	Large shift shock Engine overruns	-
Suspension control ECU Height control sensor	Vehicle height offset calibration	Vehicle height sensor data may be affected due to installation position, or vehicle height recognition may be erroneous	May also occur when vehicle height is uneven due to deterioration over time
Tire pressure warning ECU	Register transmitter IDs Initialize tire pressure warning system	When DTC detection conditions of "transmitter ID not received" DTC is met, TPMS indicator blinks for 1 minute, and then illuminates Tire pressure monitoring function	-
Tire pressure warning valve and transmitter	Register transmitter IDs Initialize tire pressure warning system	When DTC detection conditions of "transmitter ID not received" DTC is met, TPMS indicator blinks for 1 minute, and then illuminates Tire pressure monitoring function of replaced wheel	Even if only one wheel is replaced, IDs for all 5 wheels must be registered
Skid control ECU	Initialize linear solenoid valve and perform calibration Perform yaw rate and acceleration sensor zero point calibration	Brake warning light / yellow (minor malfunction) illumination Brake warning light / red (malfunction) ABS warning light illumination VSC warning display of multi-information display Master warning light illumination	-
Brake actuator	Bleed air Clear stored value of linear solenoid valve and calibration data Initialize linear solenoid valve and perform calibration	Brake does not operate property	-
Brake pedal stroke sensor Brake pedal	Inspect and adjust brake pedal height Adjust brake pedal stroke sensor Clear stored value of linear solenoid valve and calibration data Initialize linear solenoid valve and perform calibration	Brake warning light / yellow (minor malfunction) illumination Brake warning light / red (malfunction) ABS warning light illumination Master warning light illumination	-
Yaw rate and acceleration sensor	Clear zero point calibration data Perform yaw rate and acceleration sensor zero point calibration	Brake warning light / yellow (minor malfunction) illumination Brake warning light / red (malfunction) ABS warning light illumination VSC warning display of multi-information display Master warning light illumination VSC control is prohibited or operation is incorrect VGRS system	-
Electric parking brake ECU	Reset memory Acquire tension sensor zero point	Electric parking brake does not operate normally	-
Electric parking brake actuator	Reset memory Acquire tension sensor zero point Parking brake bedding	Electric parking brake does not operate normally Parking brake performance may not be normal	-
Rear disc Parking brake shoe	Parking brake bedding	Parking brake performance may not be normal	-
Steering control ECU Steering column Steering intermediate shaft	Actuator angle neutral point calibration and initialization	Steering wheel off-center	-
Object recognition ECU Object recognition camera sensor	Adjust object recognition camera	DTC C1A22 or C1A23 is output	-
Power steering gear assembly	Actuator angle neutral point calibration and initialization Rotation angle sensor value initialization Torque sensor zero point calibration VGRS system calibration procedure	Steering wheel off-center Difference in amount of steering assist between left and right	-
Power steering ECU	Rotation angle sensor value initialization Torque sensor zero point calibration	Steering wheel off-center Difference in amount of steering assist between left and right	-
Front seat set (Occupant classification ECU)	Perform zero point calibration Registration ECU data	Occupant classification system Passenger airbag ON/OFF indicator Airbag system (Front passenger side) Seat belt warning system (Front passenger side)	-
ID code box Steering lock ECU ECM Key Certification ECU	Registration	Wireless door lock operation Entry operation Engine starting Steering unlock	-
Front millimeter wave radar sensor	Adjust front millimeter wave radar sensor	DTC C1A11 or C1A14 is output	-
Steering angle sensor connector	Correction of steering angle neutral point	Parking guidance function	-
Television camera	Television camera optical axis (Camera position setting)	Vehicle width extension lines and expected course are deviated	-
Parking assist ECU	Correction of steering angle neutral point Store left and right maximum steering angle Television camera optical axis (Camera position setting)	Vehicle width extension lines and expected course are deviated Parking assist function	-
Mayday ECU	Mayday ECU initialization Mayday ECU registration / enrollment	LEXUS link system	-
Mayday battery	Mayday battery registration Mayday battery confirmation	DTC 6-1 remains output	-
Power window regulator motor (All doors)	Initialize power window control system	AUTO UP / DOWN Jam protection Key-off	When the battery is replaced, it is not necessary to initialize the power window regulator motor
Inner rear view mirror	Compass zone setting Compass calibration	Direction is not displayed correctly	-
Front power seat switch (Seat ECU) Front seat adjuster Position control ECU Rear seat adjuster	Position sensor initialization	During manual operation, buzzer sounds Memory function does not operate Interference stop control does not operate normally Linked control does not operate normally	-
RR MPX-B1 fuse Luggage closer motor assembly Luggage door closer assembly	Reset power trunk lid system	Power trunk lid function	-
Rear door ECU LH Rear door ECU RH	Rear curtain position reset operation	Rear curtain	-
Sliding roof drive gear (Sliding roof ECU) Sliding roof housing Sliding roof glass	Initialize sliding roof system	Auto operation Jam protection function Sliding roof operation after engine switch is turned off Wireless door lock control function Key-linked operation function (Driver's door only) Entry lock switch-linked operation	-

PERFORM ROAD TEST TO ALLOW TCM TO LEARN

CAUTION:

Perform the following procedures while strictly observing all traffic laws and speed limits.
Do not accelerate or decelerate rapidly.

"Road test" procedure is as follows:

Warm up the engine.

According to the replacement parts, perform the road test shown below.

REPLACEMENT PART TABLE

Replacement Parts	Road Test
Automatic transmission assembly TCM Valve body assembly Shift solenoid valve SL3 Engine assembly ECM	Perform pattern 1 and 2 Pattern 1:1 With shift lever on D, after gradually accelerating to approx. 50 km/h (31 mph) or more, gradually decelerate to approx. 30 km/h (19 mph) Pattern 2:2 With shift lever on S4, after gradually accelerating to approx. 30 km/h (19 mph) or more, gradually decelerate to approx. 10 km/h (6 mph)
Shift solenoid valve SL1 Shift solenoid valve SL2 Shift solenoid valve SL4 Shift solenoid valve SL5	Pattern 1:*1 With shift lever on D, after gradually accelerating to approx. 50 km/h (31 mph) or more, gradually decelerate to approx. 30 km/h (19 mph)
HINT: 1: After gradually accelerating a distance of approximately 130 m (426.4 ft.) for a period of approximately 15 seconds, gradually decelerate a distance of approximately 45 m (147.6 ft.) for a period of approximately 5 seconds. 2: After gradually accelerating a distance of approximately 40 m (131.2 ft.) for a period of approximately 8 seconds, gradually decelerate a distance of approximately 20 m (65.6 ft.) for a period of approximately 4 seconds. When decelerating, apply the brakes as necessary to adjust the vehicle speed.

Fig 1: Identifying Road Test Pattern

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

HINT:

*1: The speed, time and distance values are approximate values.
*2: After accelerating, the deceleration does not need to be performed immediately.

Repeat until the shift shock and engine speed overrun settles down.
NOTE: Before repeating tests, stop the vehicle once, and then start moving the vehicle again.

RESET MEMORY
NOTE:
- Perform the RESET MEMORY (AT initialization) when replacing the engine assembly or ECM.
- The RESET MEMORY can be performed only with the Techstream.
- RESET MEMORY cannot be completed by only reconnecting the cable to the negative (-) battery terminal.
HINT:

The TCM memorizes the vehicle conditions when the ECT controls the automatic transmission assembly and engine assembly.
1. "RESET MEMORY" procedure is as follows:
  1. Turn the engine switch OFF.
  2. Connect the Techstream to the CAN VIM. Then connect the CAN VIM to the DLC3.
  3. Turn the engine switch ON (IG).
  4. Turn the Techstream ON.
  5. Enter the following menus: DIAGNOSIS / OBD/ MOBD / ECT / RESET MEMORY.
    NOTE: After performing the RESET MEMORY, be sure to perform the ROAD TEST described previously.
SET TRANSMISSION COMPENSATION CODE INTO TCM (step 1)
NOTE: Transmission compensation codes are unique, 60-digit alphanumeric values printed on the QR label. If an incorrect transmission compensation code is input into the TCM, shift shock may occur.
1. Record the transmission compensation code specified on the QR label.
  HINT:
  
  The transmission compensation code is a 60-digit alphanumeric value imprinted on the QR label.
2. Move the shift lever to the N or P position.
3. Connect the Techstream to the DLC3.
4. Turn the engine switch on (IG).
  NOTE: Do not start the engine.
5. Turn the Techstream on.
6. Enter the following menus: Powertrain / ECT / Utility / A/T Code Registration.
7. Select "Set Compensation Code".
8. Register the compensation code.
  
  Fig 2: Identifying QR Code Label
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
9. Manually input the transmission compensation code.
10. Check that the compensation code displayed on the screen is correct by comparing it with the 60-digit alphanumeric value on the QR label.
  NOTE: If an incorrect transmission compensation code is input into the TCM, shift shock will occur.
  
  HINT:
  
  Input alphabetical letters using the Techstream
11. Set the compensation code to the TCM.
TRANSFER TRANSMISSION COMPENSATION CODE (Step 2)
NOTE: Transmission compensation codes are unique, 60-digit alphanumeric values printed on the QR label. If an incorrect transmission compensation code is input into the TCM, shift shock may occur.

HINT:

If an incorrect transmission compensation code is input into the TCM, shift shock will occur.
1. Read the transmission compensation code.
  1. Move the shift lever to the N or P position.
  2. Connect the Techstream to the DLC3
  3. Turn the engine switch on (IG).
    NOTE: Do not start the engine.
  4. Turn the Techstream on.
  5. Enter the following menus: Powertrain / ECT / Utility / A/T Code Registration.
  6. Select "Read Compensation Code".
    NOTE: Do not use the code specified on the transmission QR label even if the transmission compensation code cannot be read using the Techstream. The code printed on an in-service transmission may not match its current characteristics. Replace the TCM with a new one and perform a road test to allow the TCM to learn.
  7. Turn the engine switch off.
  8. Replace the TCM.
2. Set the transmission compensation code.
  1. Turn the engine switch on (IG).
    NOTE: Do not start the engine.
  2. Turn the Techstream on.
  3. Enter the following menus: Powertrain / ECT / Utility / A/T Code Registration.
  4. Select "Set Compensation Code".
  5. Press "Open".
  6. Select "Open".
  7. Set the compensation code to the TCM.

VEHICLE HEIGHT OFFSET CALIBRATION

NOTE:

Make sure that the pressure of the tires is normal.
Make sure that the vehicle is empty.
Make sure that the parking brake is released and that the shift lever is on N.

PERFORM VEHICLE HEIGHT INSPECTION

Adjust the pressure of the tires.
Stabilize the suspension by releasing the parking brake and bouncing the corners of the vehicle up and down.
Move the shift lever to N and move the vehicle forward and rearward.
Turn the engine switch OFF.
Connect the Techstream to the DLC3.
Start the engine.
Turn the tester on.
Enter the following menus: Chassis / Air suspension / Data List.
Press the height control switch and adjust the vehicle height to "HEIGHT HIGH".
Press the height control switch and return the vehicle height to normal.

Using the DATA LIST, confirm that the vehicle height control operation is complete.

Air suspension

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnosis Note
Height Control	Vehicle height control condition reading/ ON or OFF	ON: Vehicle height control operating OFF: Vehicle height control not operating	-

Using the Techstream

Enter the following menus: Chassis / Air suspension / Data List /. Then read and write the values for "After Height Adjust" and "Height Adjust" for each wheel.

Air suspension

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnosis Note
FR Height Adjust	Display of vehicle height offset recorded value of front right wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	-	-
FL Height Adjust	Display of vehicle height offset recorded value of front left wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	-	-
RR Height Adjust	Display of vehicle height offset recorded value of rear right wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	-	-
RL Height Adjust	Display of vehicle height offset recorded value of rear left wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	-	-
FR After Height Adjust	Display of after-calibration vehicle height value of front right wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	When vehicle height normal: 0 +/-20 mm (0 +/-0.79 in.) When vehicle height is changing: Varies based on vehicle height After HEIGHT HIGH adjustment: 20 +/- 20 mm (0.79 +/- 0.79 in.)	-
FL After Height Adjust	Display of after-calibration vehicle height value of front left wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	When vehicle height normal: 0 +/-20 mm (0 +/-0.79 in.) When vehicle height is changing: Varies based on vehicle height After HEIGHT HIGH adjustment: 20 +/- 20 mm (0.79 +/- 0.79 in.)	-
RR After Height Adjust	Display of after-calibration vehicle height value of rear right wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	When vehicle height normal: 0 +/-20 mm (0 +/-0.79 in.) When vehicle height is changing: Varies based on vehicle height After HEIGHT HIGH adjustment: 20 +/- 20 mm (0.79 +/- 0.79 in.)	-
RL After Height Adjust	Display of after-calibration vehicle height value of rear left wheel / min.: -3276.8 mm (-129 in.) max.: 3276.7 mm (129 in.)	When vehicle height normal: 0 +/-20 mm (0 +/-0.79 in.) When vehicle height is changing: Varies based on vehicle height After HEIGHT HIGH adjustment: 20 +/- 20 mm (0.79 +/- 0.79 in.)	-

Turn the engine switch OFF.

Perform the vehicle height inspection.

Standard vehicle height

VEHICLE SPECIFICATION TABLE

Vehicle Specification	Front (Measured height A minus B)	Rear (Measured height D minus C)
18 in. Wheel	98 mm (3.86 in.)	93 mm (3.66 in.)
19 in. Wheel	98 mm (3.86 in.)	93 mm (3.66 in.)

Measuring points:

Ground clearance of front wheel center

Ground clearance of front suspension lower No. 2 arm assembly front bush installation bolt head rear

Ground clearance of protrusion of rear suspension arm attachment (lower No. 2 installation cam bolt)

Ground clearance of rear wheel center

Fig 3: Identifying Vehicle Height

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

PERFORM VEHICLE HEIGHT OFFSET CALIBRATION

NOTE: The possible vehicle height automatic adjustment value is 20 mm (0.78 in.). If the "Height Adjust" value + (Standard value - Measurement value - "After Height Adjust" value) is 20 mm (0.78 in.) or more, first perform the vehicle height adjustment (height control link adjustment).

Turn the engine switch OFF.
Connect the Techstream to the DLC3.
Turn the engine switch ON (IG).
Turn the tester on.
Enter the following menus: Chassis / Air suspension / Utility / Height Offset.
For each wheel, follow the instructions on the tester screen and input the input value to complete the vehicle height offset calibration.
HINT:

Input value = "Height Adjust" value + (Standard value - Measurement value - "After Height Adjust" value)
Start the engine.
In the DATA LIST, enter "HEIGHT CTRL" or "Height Control".
Press the height control switch and adjust the vehicle height to "HEIGHT HIGH".
Press the height control switch and return the vehicle height to normal.

Using the DATA LIST, confirm that the vehicle height control operation is complete.

Air suspension

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnosis Note
Height Control	Vehicle height control condition reading/ ON or OFF	ON: Vehicle height control operating OFF: Vehicle height control not operating	-

Turn the engine switch OFF.
Perform the vehicle height inspection. Check that the result is within +/-14.3 mm (+/-0.56 in.) of the standard value.

NEXT: END

DESCRIPTION OF CODE REGISTRATION
It is necessary to register the transmitter ID in the tire pressure warning ECU when replacing the tire pressure warning valve and transmitter and/or tire pressure warning ECU.

Prepare all transmitter ID data before starting registration.
1. Before registration
  1. In case of tire pressure warning ECU replacement.
    - Read the registered transmitter IDs that are stored in the old ECU using the Techstream and note them down.
    - If reading stored transmitter IDs is impossible due to malfunctions of components such as the tire pressure warning antenna and receiver, remove the tires from the wheels and check the IDs located on the tire pressure warning valves and transmitters.
  2. In case of tire pressure warning valve and transmitter replacement.
    - Take a note of the 7 digit number (transmitter ID) written on the tire pressure warning valve and transmitter.
      
      Fig 4: Identifying Transmitter ID (7 Digit Number)
      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    NOTE: The transmitter ID is written on the tire pressure warning valve and transmitter. It will be unable to be read after installing the tire pressure warning valve and transmitter on the tire and wheel. Therefore, take a note of the transmitter ID before installing the tire pressure warning valve and transmitter.
REGISTER TRANSMITTER ID
1. Set the air pressure of all wheels to the specified value.
2. Turn the engine switch OFF.
3. Connect the Techstream to the DLC3.
4. Turn the engine switch ON (IG) and the tester ON.
5. Enter the menu items in this order: Chassis / Tire Pressure Monitor / Utility / ID Registration /
6. Perform the procedures displayed on the Techstream.
7. "UTILITY REGIST TIRE SET" screen is displayed. Then, press "YES".
8. "UTILITY REGIST TIRE SET" screen is displayed. Then, press "ENTER".
9. Confirmation of transmitter ID registration.
  1. Enter the menu items in this order: DIAGNOSIS / OBD/MOBD / CHASSIS / TIRE PRESSURE / DATA LIST.
  2. Read the "TIRE PRESS" values.
    NOTE:
    It may take up to about 2 or 3 minutes to update the tire pressure data. If the values are not displayed after a few minutes, perform troubleshooting according to the inspection procedure for DTCs C2121/21 to C2125/25.
    
    If the IDs have not been registered, DTC C2171/71 is set in the tire pressure warning ECU after 3 minutes or more.
    
    If normal pressure values are displayed, the IDs have been registered correctly.
    
    If the tire pressure values are not displayed after a few minutes, the IDs may be incorrect or the system may have a malfunction.
    
    The tire pressure information reception condition can also be confirmed through the multi-information display's tire pressure display screen.
    
    After all IDs are registered, DTC C2126/26 is set in the tire pressure warning ECU and the tire pressure warning light blinks for 1 minute and then comes on. When the tire pressure warning ECU successfully receives radio waves from all the transmitters whose IDs are stored in the ECU, DTC C2126/26 is deleted and the tire pressure warning light goes off.

INITIALIZATION PROCEDURE

Turn the engine switch ON (IG).
Press and hold the tire pressure warning reset switch for 3 seconds or more so that the tire pressure warning light blinks 3 times.

Fig 5: Identifying Tire Pressure Warning Light
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Turn the engine switch OFF.
Connect the Techstream to the DLC3.
Turn the engine switch ON (IG) and turn the tester ON.
Enter the following menus: Chassis / Tire Pressure Monitor / Data List.
Check that the initialization has been completed.

Confirm that the tire pressure data of all tires are displayed on the tester screen.

NOTE:

The initialization is normally completed within 2 to 3 minutes.
If the initialization has not been completed successfully, DTC C2177/77 is set after a vehicle speed of 8 km/h (5 mph) or more continues for 20 minutes or more.
While in test mode, the system will not change to initialization mode even if the tire pressure warning reset switch is pushed.
The initialization can be terminated by connecting terminals 13 (TC) and 4 (CG) of the DLC3 connector.

Fig 6: Identifying DLC3 Connector Terminals
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Tire Pressure Monitor

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnostic Note
ID1 Tire Inflation Pressure	ID1 tire inflation pressure / min.: -100 kPa (-1 kgf/cm² , -14 psi) max.: 537.5 kPa (5.4 kgf/cm² , 78 psi)	Actual tire inflation pressure	If -100 kPa (-1 kgf/cm² , -14 psi) is displayed, the data has not been received.*
ID2 Tire Inflation Pressure	ID2 tire inflation pressure / min.: -100 kPa (-1 kgf/cm² , -14 psi) max.: 537.5 kPa (5.4 kgf/cm² , 78 psi)	Actual tire inflation pressure	If-100 kPa (-1 kgf/cm² , -14 psi) is displayed, the data has not been received.*
ID3 Tire Inflation Pressure	ID3 tire inflation pressure / min.: -100 kPa (-1 kgf/cm² , -14 psi) max.: 537.5 kPa (5.4 kgf/cm² , 78 psi)	Actual tire inflation pressure	If-100 kPa (-1 kgf/cm² , -14 psi) is displayed, the data has not been received.*
ID4 Tire Inflation Pressure	ID4 tire inflation pressure / min.: -100 kPa (-1 kgf/cm² , -14 psi) max.: 537.5 kPa (5.4 kgf/cm² , 78 psi)	Actual tire inflation pressure	If-100 kPa (-1 kgf/cm² , -14 psi) is displayed, the data has not been received.*
ID5 Tire Inflation Pressure	ID5 tire inflation pressure / min.: -100 kPa (-1 kgf/cm² , -14 psi) max.: 537.5 kPa (5.4 kgf/cm² , 78 psi)	Actual tire inflation pressure	If -100 kPa (-1 kgf/cm² , -14 psi) is displayed, the data has not been received.*
HINT: The initialization is complete when the DATA LIST "TIREPRESS" or "ID Tire Inflation Pressure" display shows the correct pressures. *: It may take about 2 or 3 minutes until the values are displayed. If the values are not displayed after a few minutes, perform troubleshooting according to the inspection procedure for DTCs C2121/21 to C2125/25.

INITIALIZATION PROCEDURE (MULTI-INFORMATION DISPLAY)
1. Turn the engine switch ON (IG).
2. Press and hold the tire pressure warning reset switch for 3 seconds or more so that the tire pressure warning light blinks 3 times.
  
  Fig 7: Identifying Tire Pressure Warning Light
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  - The initialization can be confirmed through the multi-information display.
    
    Fig 8: Identifying Multi-Information Display Screen Flow
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  - The order in which the data is received is random.
  - If the signals from all the wheels are received, the initialization is complete.
  - It may take about 2 or 3 minutes until the values are displayed. If the values are not displayed after a few minutes, perform troubleshooting according to the inspection procedure for DTCs C2121/21 to C2125/25.
  NOTE:
  - If the initialization has not been completed successfully, DTC C2177/77 is set after a vehicle speed of 8 km/h (5 mph) or more continues for 20 minutes or more.
  - The initialization can be terminated by connecting terminals 13 (TC) and 4 (CG) of the DLC3 connector.
CLEAR STORED VALUE OF INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING the Techstream)
1. Connect the Techstream to the DLC3.
2. Move the shift lever to the P position.
3. Turn the engine switch ON (IG) with the brake pedal released.
4. Clear the stored value of initialization of linear solenoid valve and calibration following the screen.
  
  Fig 9: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  
  Refer to the Techstream operator's manual for further details.
PERFORM INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING the Techstream)
1. Connect the Techstream (with CAN VIM) to the DLC3.
2. Move the shift lever to the P position.
3. Turn the engine switch ON (IG) with the brake pedal released.
  NOTE:
  - If the linear solenoid valve offset learning is performed without turning the engine switch on (IG), the learning process may not be completed properly because of insufficient battery voltage.
  - When the linear solenoid valve offset learning is interrupted, or the learning process is performed with the shift lever not in the P position, DTC C1345/66 will be stored.
4. Set the Techstream to Test Mode (select "ABS/VSC/ TRAC", "Utility").
  HINT:
  
  Refer to the Techstream operator's manual for further details.
5. Leave the vehicle stationary without depressing the brake pedal for 1 or 2 minutes.
6. Check that the interval between blinks of the brake warning light / yellow (minor malfunction) changes from 1 second to 0.25 second.
  HINT:
  - The time needed to complete initialization of linear solenoid valve and calibration varies depending on battery voltage.
  - The brake warning light / yellow (minor malfunction) blinks at 1 second intervals during the initialization of linear solenoid valve and calibration. After it is complete, the brake warning light / yellow (minor malfunction) changes to the Test Mode display, and blinks at 0.25 second intervals.
    
    Fig 10: Identifying Blinking Pattern
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
7. When the brake warning light / yellow (minor malfunction) changes to the Test Mode display, check that DTC C1345/66, which indicates trouble with stroke sensor zero point learning, is not output.
8. Enter the normal mode from the Test Mode following the Techstream prompts.
  HINT:
  
  Refer to the Techstream operator's manual for further details.
CLEAR STORED VALUE OF INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING SST CHECK WIRE)
1. Move the shift lever to the P position.
2. Turn the engine switch ON (IG) with the brake pedal released.
3. Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.
  SST 09843-18040
  
  Fig 11: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
4. Check that no codes other than ABS code 42, VSC code 45 and electronically controlled brake system code 48, 66, or 95 are stored in the diagnostic system.
  
  Fig 12: Identifying Blinking Pattern
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  
  The ABS warning light and multi-information display do not indicate the normal system code.
PERFORM INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING SST CHECK WIRE)
1. Turn the engine switch OFF.
2. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
  SST 09843-18040
3. Move the shift lever to the P position.
4. Turn the engine switch ON (IG) with the brake pedal released.
  
  Fig 13: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  NOTE:
  - If the linear solenoid valve offset learning is performed without turning the engine switch on (IG), the learning process may not be completed properly because of insufficient battery voltage.
  - When the linear solenoid valve offset learning is interrupted, or the learning process is performed with the shift lever not in the P position, DTC C1345/66 will be stored.
5. Leave the vehicle stationary without depressing the brake pedal for 1 or 2 minutes.
6. Check that the interval between blinks of the brake warning light / yellow (minor malfunction) changes from 1 second to 0.25 seconds.
  HINT:
  - The time needed to complete initialization of linear solenoid valve and calibration varies depending on the battery voltage.
  - The brake warning light / yellow (minor malfunction) blinks at 1 second intervals during the initialization of linear solenoid valve and calibration. After it is complete, the brake warning light / yellow (minor malfunction) changes to the Test Mode display, and blinks at 0.25 second intervals.
    
    Fig 14: Identifying Blinking Pattern
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
7. When the brake warning light / yellow (minor malfunction) changes to the Test Mode display, check that DTC C1345/66, which indicates trouble with stroke sensor zero point learning, is not output.
8. Turn the engine switch off and disconnect SST from the DLC3.
CLEAR ZERO POINT CALIBRATION (WHEN USING the Techstream)
1. Connect the Techstream to the DLC3.
2. Turn the engine switch ON (IG).
3. Operate the Techstream to erase the codes (select "Reset Memory").
  HINT:
  
  Refer to the Techstream operator's manual for further details.
PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR (WHEN USING the Techstream)
NOTE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking it. Keep it in a stationary condition and do not start the engine.
- Choose a level surface with an inclination of less than 1°.
1. Procedures for Test Mode.
  1. Ensure that the steering wheel is centered, move the shift lever to the P position, and apply the parking brake.
    NOTE: DTC C1210/36 and C1336/98 will be recorded if the shift lever is not in the P position.
  2. Connect the Techstream to the DLC3.
  3. Turn the engine switch ON (IG).
  4. Set the Techstream to Test Mode (select "Test Mode").
    HINT:
    
    Refer to the Techstream operator's manual for further details.
2. Obtain the zero point of the yaw rate and acceleration sensor.
  1. Keep the vehicle stationary on a level surface for 2 seconds or longer.
    
    Fig 15: Identifying DLC3 Connector Location
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  2. Check that the ABS warning light and brake warning light / yellow (minor malfunction) blink and "VSC TEST" is indicated on the multi-information display (Test Mode).
    HINT:
    - If the ABS warning light and brake warning light / yellow (minor malfunction) do not blink and "VSC TEST" is not indicated on the multi-information display, perform zero point calibration again.
    - The zero point calibration is performed only once after the system enters the Test Mode.
    - Calibration cannot be performed again until the stored data is cleared.
3. Turn the engine switch off and disconnect the Techstream.
  
  Fig 16: Identifying Blinking Pattern
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
CLEAR ZERO POINT CALIBRATION (WHEN USING SST CHECK WIRE)
1. Turn the engine switch ON (IG).
2. Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.
  SST 09843-18040
  
  Fig 17: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Check that no codes other than ABS code 42, VSC code 45 and electronically controlled brake system code 48, 66, or 95 are stored in the diagnostic system.
  
  Fig 18: Identifying Blinking Pattern
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  
  The ABS warning light and multi-information display do not indicate the normal system code.
PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR (WHEN USING SST CHECK WIRE)
NOTE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking. Keep it in a stationary condition and do not start the engine.
- Choose a level surface with an inclination of less than 1°.
1. Procedures for Test Mode.
  1. Turn the engine switch OFF.
  2. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
    SST 09843-18040
  3. Check that the steering wheel is in the centered position and move the shift lever to the P position.
    NOTE: DTC C1210/36 and C1336/98 will be recorded if the shift lever is not in the P position.
    
    Fig 19: Identifying DLC3 Connector Terminals
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Obtain the zero point of the yaw rate and acceleration sensor.
  1. Turn the engine switch ON (IG).
  2. Keep the vehicle in a stationary condition on a level surface for 2 seconds or more.
  3. Check that the ABS warning light and brake warning light / yellow (minor malfunction) blink and "VSC TEST" is indicated on the multi-information display (Test Mode).
    HINT:
    - If the ABS warning light and brake warning light / yellow (minor malfunction) do not blink and "VSC TEST" is not indicated on the multi-information display, perform zero point calibration again.
    - The zero point calibration is performed only once after the system enters the Test Mode.
    - Calibration cannot be performed again until the stored data is cleared.
3. Turn the engine switch off and disconnect SST from the DLC3.
  
  Fig 20: Identifying Blinking Pattern
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
DISCONNECT BRAKE ACCUMULATOR PUMP CONNECTORS
NOTE: If the brake accumulator pump operates while air remains inside the No. 2 brake actuator hose, air will enter the brake accumulator pump, resulting in difficulty in bleeding. Keep the 2 brake accumulator pump connectors disconnected before bleeding.
1. Disconnect the 2 brake accumulator pump connectors.
  
  Fig 21: Locating Brake Accumulator Pump Connectors
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
FILL RESERVOIR WITH BRAKE FLUID
NOTE:
- As brake fluid may overflow when bleeding air, do not place the fluid can on the reservoir filler opening.
- If brake fluid leaks onto any painted surface, clean it off completely.
1. Add brake fluid into the reservoir.
  Fluid:
  
  SAE J1703 or FMVSS No. 116 DOT 3
  
  Fig 22: Adding Brake Fluid Into Reservoir
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
DISABLE BRAKE CONTROL
HINT:

Using the Techstream to disable brake control causes the master pressure cut solenoid to turn OFF and the line from the master cylinder to the front disc brake caliper to open.
1. Check that the parking brake is set.
2. Connect the Techstream to the DLC3 with the engine switch OFF.
3. Turn the engine switch ON (IG).
  NOTE: Do not start the engine.
4. Turn the Techstream on and select "DIAGNOSTIC MENU" → "ABS/VSC"→"ELECTRONICALLY CONTROLLED BRAKE SYSTEM UTILITY"→"ELECTRONICALLY CONTROLLED BRAKE SYSTEM INVALID" on the Techstream.
BLEED AIR FROM FRONT BRAKE SYSTEM
HINT:

After replacing the brake master cylinder with simulator assembly, perform air bleeding on it (same as for common master cylinders) so that bleeding air from the front brake system is easier.
NOTE:
- Bleed air from the wheel furthest from the master cylinder.
- Repeat the bleeding procedures until all the air in the fluid is completely bled out.
1. Connect a vinyl tube to the bleeder plug on the front disc brake caliper LH and RH.
2. Depress the brake pedal several times, then loosen the bleeder plug with the pedal depressed.
  
  Fig 23: Depressing Brake Pedal
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. When fluid stops coming out, temporarily tighten the bleeder plug, then release the brake pedal.
4. Repeat the above procedures until all the air in the fluid is completely bled out.
5. Tighten the bleeder plug.
  Torque: 11 N*m (110 kgf*cm, 8 ft.*lbf)
CANCEL DISABLE BRAKE CONTROL
1. Cancel "DISABLE BRAKE CONTROL" on the Techstream.
  
  Fig 24: Depressing Brake Pedal
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
CONNECT BRAKE ACCUMULATOR PUMP CONNECTORS
1. Turn the engine switch OFF.
2. Connect the 2 brake accumulator pump connectors.
3. Turn the engine switch ON (IG).
BLEED AIR FROM PUMP SUCTION SYSTEM (RR)
HINT:

Loosening the rear disc brake caliper's RH bleeder plug and using the Techstream to select "BLEED PUMP SUCTION SYSTEM (RR)" causes the pump motor and solenoid to operate and pressurize the rear brake line.
1. Check that the parking brake is set.
2. Connect the Techstream to the DLC3 with the engine switch OFF.
3. Turn the engine switch ON (IG).
  NOTE: Do not start the engine.
4. Connect a vinyl tube to the bleeder plug on the rear disc brake caliper RH.
5. Loosen the bleeder plug.
6. Turn the Techstream on and select "DIAGNOSTIC MENU"→"ABS/VSC"→"ELECTRONICALLY CONTROLLED BRAKE SYSTEM UTILITY"→"BLEED PUMP SUCTION SYSTEM (RR)" on the Techstream.
  NOTE: Do not depress the brake pedal.
  
  HINT:
  
  The solenoid operates for approximately 30 seconds.
7. Tighten the bleeder plug.
  Torque: 11 N*m (110 kgf*cm, 8 ft.*lbf)
DISABLE BRAKE CONTROL
1. Turn the Techstream on and select "DIAGNOSTIC MENU"→"ABS/VSC"→"ELECTRONICALLY CONTROLLED BRAKE SYSTEM UTILITY"→"ELECTRONICALLY CONTROLLED BRAKE SYSTEM INVALID" on the Techstream.
BLEED AIR FROM REAR BRAKE SYSTEM
1. Connect a vinyl tube to the bleeder plug on the rear disc brake caliper LH and RH.
  
  Fig 26: Connecting Vinyl Tube To Bleeder Plug On Rear Disc Brake Caliper
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. With the brake pedal depressed, loosen the bleeder plug.
  NOTE: Keep the fluid inside the reservoir above the MIN line by replenishing.
  
  HINT:
  - Depress and hold the brake pedal.
  - After the solenoid operates for approximately 30 seconds, release the brake pedal to stop the solenoid.
  - Repeat the above procedures until air is completely bled from the rear brake system.
  - The brake control warning light comes on and the buzzer sounds while bleeding, but they do not indicate a malfunction.
3. Tighten the bleeder plug after bleeding.
  Torque: 11 N*m (110 kgf*cm, 8 ft.*lbf)
  
  HINT:
  
  The fluid amount adjustment is easier to perform if fuel bleeding is completed with the brake fluid reservoir's fluid level at approximately 5 mm (0.20 in.) below the MAX level.
  
  Fig 27: Tightening Bleeder Plug
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
CANCEL DISABLE BRAKE CONTROL
1. Cancel "DISABLE BRAKE CONTROL" on the Techstream.
PERFORM ACCUMULATOR ZERO DOWN
1. Connect the Techstream to the DLC3 with the engine switch off.
2. Perform the accumulator pressure zero down as follows:
  1. Check that the parking brake is set, and turn the engine switch ON (IG).
  2. Turn the Techstream on and select "DIAGNOSTIC MENU" → "ABS/VSC" → "ELECTRONICALLY CONTROLLED BRAKE SYSTEM UTILITY" → "ZERO DOWN" on the Techstream.
    HINT:
    
    Using the Techstream to perform accumulator zero down causes the pressurized fluid in the actuator's accumulator to be returned to the brake fluid reservoir.
  3. When the buzzer sounds, turn the engine switch OFF.
3. Perform the accumulator fluid circulation as follows:
  1. Perform the accumulator pressure zero down 5 times repeatedly.
    HINT:
    - Accumulator pressure is released and accumulated repeatedly, which circulates the fluid inside the accumulator every time accumulator zero down (accumulator depressurizing) is performed.
    - The pump motor rotates and accumulator is pressurized every time the engine switch is turned from OFF to ON (IG).
CHECK AND ADJUST BRAKE FLUID LEVEL IN RESERVOIR
1. After performing accumulator zero down (accumulator depressurizing), adjust the fluid level in the master cylinder reservoir to the MAX level.
  NOTE: If using a dropper to adjust the fluid amount, make sure the dropper has not been used with mineral oils, water or deteriorated brake fluid. Sealed areas may deteriorate and lead to fluid leaks, or the fluid may deteriorate and lead to decreased efficiency.
  
  Fig 28: Locating Brake Fluid Level In Reservoir
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  - After performing accumulator zero down (accumulator depressurizing), if the engine switch is turned ON (IG), the fluid level in the accumulator increases, and the fluid level in the reservoir decreases.
  - If the fluid level is adjusted without performing accumulator zero down (accumulator depressurizing), fluid is sent from the accumulator to the reservoir. The fluid level may exceed the MAX level, but it is normal.
2. After turning the engine switch ON (IG), check that the fluid level in the brake fluid reservoir is slightly lower than the MAX level.
CLEAR DTC
1. Clear the DTCs.
PERFORM LINEAR VALVE OFFSET LEARNING
1. When the brake actuator is replaced, perform linear valve offset learning.
CHECK DTC
1. If any DTC is set, perform the troubleshooting for the DTC.

READ VALUE OF ACCUMULATOR PRESSURE SENSOR OUTPUT VOLTAGE

HINT:

If removing and installing the No. 3 brake actuator tube, check for a brake fluid leak from the No. 3 tube connection area by monitoring the accumulator pressure sensor output value from the brake actuator. Directly checking for a brake fluid leak from the No. 3 tube connection area is difficult.

Turn the engine switch OFF.
Connect the Techstream to the DLC3.
Turn the engine switch ON (IG).

Operate the Techstream according to the display and select "DATA LIST".

Skid control ECU:

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnostic Note
Accumulator Sensor	Accumulator pressure sensor / min.: 0 V, max.: 5 V	Specified value: 2.6 to 3.8 V	-

Depress the brake pedal 4 or 5 times to operate the pump motor, and check the output value on the Techstream with the motor stopped (not braking).
OK: Accumulator pressure sensor's output voltage drops 0.2 V or less for 30 seconds.

If the voltage drops more than 0.2 V, there may be a brake fluid leak from the No. 3 brake actuator tube connection area. Remove the brake actuator and brake accumulator pump, and then repeat the procedures above from the retightening of the 2 union nuts of the No. 3 brake actuator tube.

SST 09023-00101

Torque: 15 N*m (155 kgf*cm, 11 ft.*lbf) without SST

14 N*m (145 kgf*cm, 10 ft.*lbf) with SST

HINT:
- Use a torque wrench with a fulcrum length of 300 mm (11.81 in.).
- This torque value is effective when SST is parallel to a torque wrench.
  
  Fig 29: Locating No. 3 Brake Actuator Tube Connection
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

CHECK AND ADJUST BRAKE PEDAL HEIGHT
NOTE: Fold back the carpet below the brake pedal for this inspection adjustment.
1. Check the brake pedal height.
  Standard pedal height from tibia pad:
  
  144.2 to 154.2 mm (5.68 to 6.07 in.)
2. Adjust the pedal height.
  1. Disconnect the connector from the stop light switch.
  2. Loosen the stop light switch lock nut and turn the switch so that the pedal has free play.
  3. Loosen the push rod clevis lock nut.
  4. Adjust the pedal height by turning the push rod.
    Standard pedal height from tibia pad:
    
    144.2 to 154.2 mm (5.68 to 6.07 in.)
  5. Tighten the push rod clevis lock nut.
    Torque: 26 N*m (265 kgf*cm, 19 ft.*lbf)
    
    Fig 30: Identifying Brake Pedal Height
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  6. Turn the stop light switch so that its protrusion is between 1.5 and 2.6 mm (0.059 and 0.102 in.). Then tighten the lock nut.
    Torque: 17 N*m (170 kgf*cm, 12 ft.*lbf)
  7. Connect the stop light switch connector.
  8. Without depressing the brake pedal, check that the stop light does not illuminate. If it illuminates, adjust the brake pedal height again.
  9. Push the brake pedal in 5 to 10 mm (0.20 to 0.39 in.), and check that the stop light comes on.
    If the stop light does not turn on, adjust the brake pedal height again.
    
    Fig 31: Turning Stop Light Switch
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
ADJUST BRAKE PEDAL STROKE SENSOR
1. Connect the Techstream to the DLC3 with the engine switch OFF.
2. Loosen the 2 bolts.
3. Turn the engine switch ON (IG). While reading the stroke sensor 1 value shown on the Techstream, turn the stroke sensor slowly to the right and left to adjust it to the standard voltage.
  Standard voltage:
  
  0.8 to 1.2 V
4. Tighten the 2 bolts.
  Torque: 8.5 N*m (87 kgf*cm, 75 in.*lbf)
  
  Fig 32: Adjusting Brake Pedal Stroke Sensor
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  NOTE: Do not depress the brake pedal while performing the linear valve offset learning, as this may cause a DTC to be stored.
5. Perform the linear valve offset learning.
RESET MEMORY (with the Techstream)
1. Turn the engine switch OFF.
2. Connect the Techstream to the DLC3.
3. Turn the engine switch ON (IG) and the tester ON.
4. Enter the following menus: Chassis / Electric Parking Brake / Utility / Reset Memory.
5. Follow the tester display and perform reset memory.
  HINT:
  
  When the reset memory is completed, the parking brake indicator light (RED) will blink at 0.5 second intervals.
RESET MEMORY (without the Techstream)
1. Turn the engine switch OFF.
  
  Fig 33: Identifying Parking Brake Indicator Light
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Using SST, connect terminals 13 (TC) and 4 (CG) of the DLC3.
  SST 09843-18040
  
  NOTE: Do not connect the wrong terminals, as this will cause parts to be damaged.
3. Turn the engine switch ON (IG).
  HINT:
  
  The parking brake indicator light (RED) will blink at 0.25 second intervals.
  
  Fig 34: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
4. Perform both of the following procedures within 8 seconds:
  1. Perform the following with the electric parking brake switch twice: lock condition → off → release condition → off.
  2. Perform the following with the brake pedal: depress → release → depress → release.
    
    Fig 35: Identifying Blinking Pattern
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
5. With the engine switch ON (IG), disconnect the connection of terminals 13 (TC) and 4 (CG) of the DLC3.
6. Check that the parking brake indicator light (RED) blinks at 0.5 second intervals.
  NOTE: If terminal 13 (TC) and 4 (CG) of the DLC3 are not disconnected, the blinking pattern (0.5 second intervals) cannot be checked.
  
  HINT:
  
  If the parking brake indicator light (RED) blinking pattern (0.5 second intervals) is confirmed, the clear procedure is completed. If not confirmed, repeat the procedures above.
ACQUIRE TENSION SENSOR ZERO POINT
1. After performing reset memory, perform the release control. Check that the parking brake indicator light (RED) turns off.
PARKING BRAKE BEDDING
CAUTION: Performing parking brake bedding forms the friction surfaces of the parking brake shoe and rear disc, which creates the basic braking force of the parking brake. If bedding is not performed, the parking brake performance may not be normal.
NOTE:
If one of the following is performed, perform parking brake bedding.
- Rear disc is replaced or removed and installed
- Parking brake shoe is replaced or removed and installed
- electric parking brake actuator is replaced or removed and installed
1. Turn the engine switch OFF.
2. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
  SST 09843-18040
  
  NOTE: Do not connect the wrong terminals, as this will cause parts to be damaged.
  
  Fig 36: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Turn the engine switch ON (IG).
4. Perform the following procedures with the electric parking brake switch within 8 seconds:
  1. Turning the lock switch ON and OFF 3 times.
  2. Turn the release switch ON and OFF 3 times.
    
    Fig 37: Identifying Blinking Pattern
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
5. Check that the system is in test mode.
  HINT:
  
  The multi-information display shows "EPB TEST". EPB stands for electric parking brake. If it is not displayed, repeat the procedures above.
6. Perform parking brake bedding.
7. Drive the vehicle at 30 km/h (19 mph).
8. Push the parking brake switch to the lock side for 5 seconds.
  NOTE:
  - The braking power is generated from the parking brake while driving the vehicle. This will cause the vehicle speed to decrease. Depress the acceleration pedal to maintain the speed at 30 km/h (19 mph).
  - This procedure must be performed while driving the vehicle. If performed on a speed tester, etc., the front wheels do not rotate and the vehicle will determine that the vehicle is stopped.
    
    Fig 38: Identifying Multi-Information Display
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  HINT:
  - The parking brake indicator light (RED) stops blinking at 0.125 second intervals, and illuminates.
  - The buzzer turns ON (peeping sound).
  - The tension is automatically adjusted.
9. After 5 seconds, check that the buzzer and the parking brake indicator light (RED) turn off.
  HINT:
  
  The brake force decreases.
10. Release the parking brake lock switch.
STEERING ANGLE SENSOR INITIALIZATION (to obtain a tire angle (during straight-ahead driving) signal)
1. Turn the engine switch ON (IG), and check that the master warning light illuminates for a few seconds.
  NOTE: If the warning light remains on or blinks, repair the applicable system.
2. Drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or longer.
  
  Fig 39: Identifying Master Warning Light
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  HINT:
  - At this point, the steering wheel will still remain off-center by 5 to 10°.
  - In this step, the neutral position of the steering wheel is restored from the steering control ECU memory.
3. Confirm that steering angle sensor initialization is completed (using the tester).
  1. the Techstream - Enter the VGRS menu using the tester. Select "Straight Angle Valid Flag" from "Data List". Check if the steering angle sensor has obtained a tire angle (during straight-ahead driving) signal.
    Standard:
    
    "Valid" is displayed on the tester screen.
4. Confirm that steering angle sensor initialization is completed (not using the tester).
  1. Stop the vehicle (engine running).
  2. Slowly turn the steering wheel from lock to lock.
  3. If it turns approximately 2.7 turns, steering angle sensor initialization is completed. If it turns approximately 3.2 turns, steering angle sensor initialization is not completed.
    NOTE: If the steering wheel turns approximately 3.2 turns, drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or longer. Then confirm the initialization again.

VGRS SYSTEM CALIBRATION PROCEDURE (USING SST CHECK WIRE)

FACE TIRES STRAIGHT AHEAD
NOTE: Drive the vehicle to confirm that the steering wheel is centered.

CHECK DTC

Check for DTCs.

Result

RESULT TABLE

Result	Proceed to
DTC C1591/51 is not output	A
DTC C1591/51 is output	B

B: Go to step 4

A: Go to Next Step

PERFORM ACTUATOR ANGLE INITIALIZATION
1. Start the engine.
2. Center the steering wheel.
  SST 09843-18040
3. Complete the following steps within 1 minute.
  1. Using SST, connect terminals 12 (TS) and 4 (CG), and 13 (TC) and 4 (CG) of the DLC3.
  2. Disconnect SST from terminal 12 (TS) of the DLC3, and turn the steering wheel to the left 180° or more.
  3. Connect SST to terminal 12 (TS) of the DLC3.
  4. Disconnect SST from terminal 13 (TC) of the DLC3, and turn the steering wheel to the right 180° or more.
  5. Connect SST to terminal 13 (TC) of the DLC3.
    
    Fig 40: Identifying DLC3 Connector Terminals
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    
    HINT:
    
    When the master warning light comes on, DTC C1591/51 is memorized.
4. Disconnect SST from the DLC3.
5. Turn the engine switch OFF.
NEXT: Go to step 1

FACE TIRES STRAIGHT AHEAD

Confirm that the steering wheel is centered when facing the tires straight ahead.

NOTE: Drive the vehicle to confirm that the steering wheel is centered.

Result

RESULT TABLE

Result	Proceed to
Steering wheel Is off-center	A
Steering wheel Is centered	B

B: Go to step 8

A: Go to Next Step

UNLOCK STEERING ACTUATOR
NOTE: Do not start the engine.
1. Turn the engine switch OFF.
2. Disconnect the negative (-) terminal cable from the battery.
3. Disconnect the x2 connector from the steering actuator.
4. Connect a jumper wire from terminal LV to the positive (+) battery terminal and another jumper wire from terminal LG to the negative (-) battery terminal.
  NOTE: Do not apply voltage for more than 3 minutes.
  
  Fig 41: Identifying Steering Actuator Connector
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
STEERING CENTER ADJUSTMENT
1. Center the steering wheel.
  NOTE: If the centering of the spiral cable was not confirmed when the steering wheel was installed, confirm the centering of the spiral cable.
LOCK STEERING ACTUATOR
1. Disconnect the positive (+) and negative (-) battery terminal cables from the steering actuator.
2. Connect the x2 connector to the steering actuator.
3. Connect the negative (-) terminal cable to the battery.
4. Turn the steering wheel approximately 3° to the left and right. Confirm that the reaction force can be felt.
  NOTE:
  - If the above procedures are not followed correctly, a DTC will be detected. If a DTC is detected, perform the above procedures again and then check for DTCs.
  - Perform these procedures with the engine switch off.
NEXT: Go to step 1
ADJUST ACTUATOR ANGLE
HINT:

Activating and ending test mode will complete actuator angle adjustment.
1. Make sure the engine switch is OFF.
  NOTE: Do not touch the steering wheel during these procedures.
2. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
  SST 09843-18040
3. Turn the engine switch ON (IG).
4. Confirm that the "VGRS TEST MODE" is displayed on the multi-information display when test mode is activated.
  HINT:
  
  Wait approximately 5 seconds.
  
  Fig 42: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
5. Turn the engine switch OFF.
6. Disconnect SST from terminals 12 (TS) and 4 (CG) of the DLC3.
7. Turn the engine switch ON (IG) again.
CHECK MASTER WARNING LIGHT
1. Confirm that the master warning light is off.
2. Turn the engine switch OFF.
3. Confirm that the master warning light is operating normally.
CHECK STEERING WHEEL OPERATION
1. Start the engine.
2. Perform the steering angle sensor initialization.
3. Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
4. Drive the vehicle and confirm that the steering wheel is centered.
NEXT: END

VGRS SYSTEM CALIBRATION PROCEDURE (USING the Techstream)
1. FACE TIRES STRAIGHT AHEAD
  NOTE: Drive the vehicle to confirm that the steering wheel is centered.
2. PERFORM VGRS SYSTEM CALIBRATION
  1. Connect the Techstream to the DLC3.
  2. Turn the engine switch ON (IG).
  3. Turn the tester on.
  4. Enter the menu items in this order: Chassis / VGRS / Utility / Steering Angle Adjust.
  5. Perform the following procedures displayed on the tester.
3. CHECK MASTER WARNING LIGHT
  1. Confirm that the master warning light is off.
  2. Turn the engine switch OFF.
  3. Disconnect the Techstream from the DLC3.
  4. Confirm that master warning light is operating normally.
4. CHECK STEERING WHEEL OPERATION
  1. Start the engine.
  2. Perform the steering angle sensor initialization.
  3. Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
  4. Drive the vehicle and confirm that the steering wheel is centered.
  NEXT: END

ROTATION ANGLE SENSOR VALUE INITIALIZATION AND TORQUE SENSOR ZERO POINT CALIBRATION

NOTE: Clear the rotation angle sensor calibration value, initialize the rotation angle sensor value, and calibrate the torque sensor zero point if any of the following has occurred:

The power steering ECU has been replaced.
The power steering gear assembly has been replaced.
Steering effort differs between left and right.

Inspection before calibration.

Connect the Techstream to the DLC3.
Turn the engine switch ON (IG).
Turn the Techstream on.
Techstream - Select "IG Supply" from the data list.

Check the IG power supply voltage on the tester screen.

EMPS

DIAGNOSIS NOTE TABLE

Tester Display	Measurement Item/Range	Normal Condition	Diagnostic Note
IG Supply	ECU power source voltage/ Min.: 0 V, Max.: 25.5 V	Engine switch on (IG): 11 to 14 V	When malfunction occurs, problem may be ECU power supply

Standard voltage:

11 to 14 V

NOTE: If the IG power supply voltage is 11 V or less, calibration cannot be performed. In this case, charge or replace the battery, and then perform calibration.

Clearing rotation angle sensor calibration value, rotation angle sensor value initialization, and torque sensor zero point calibration.
NOTE:
- If DTC C1516 (Torque Sensor Zero Point Adjustment Incomplete) is stored, the torque sensor zero point cannot be calibrated. Clear the DTC before starting calibration.
- If DTC C1526 (Motor Rotation Angle Sensor Initialization Incomplete) is stored, the rotation angle sensor value cannot be initialized. Clear the DTC before starting initialization.
1. Connect the Techstream to the DLC3.
2. Turn the engine switch ON (IG).
3. Turn the Techstream on. Techstream - Select "Torque Sensor Adjustment".
4. Follow the procedures on the tester display to clear the rotation angle sensor calibration value, initialize the rotation angle sensor value, and calibrate the torque sensor zero point.
  NOTE:
  - When initializing the rotation angle sensor value, observe the following to stabilize sensor voltage:
    After turning the engine switch ON (IG), wait for at least 2.5 seconds before turning the steering wheel. Do not turn the steering wheel quickly.
  - The steering wheel will vibrate during torque sensor zero point calibration. Do not touch the steering wheel while it is vibrating or for 2 seconds after it stops.

ZERO POINT CALIBRATION

Zero point calibration procedures

Check that all of the following conditions are met:
- The vehicle is parked on a level surface.
- No objects are placed on the front passenger seat.
- The front passenger seat belt buckle switch is OFF.

Adjust the seat position according to the table below.

ADJUSTMENT ITEM TABLE

Adjustment Item	Position
Slide Direction	Rearmost position
Reclining Angle	Upright position
Headrest Height	Lowest position
Lifter Height	Lowest position

Connect the Techstream to the DLC3.
Turn the engine switch ON (IG).

Perform zero point calibration by following the prompts on the tester screen.

HINT:

Refer to the Techstream operator's manual for further details.
If the zero point calibration is performed when the calibration conditions are not satisfied, DTC B1797 is output.
If the zero point calibration has failed, DTC B1797 is output.
If After Exchange is selected before the previous ECU data are stored in the Techstream, the display screen returns to CONDITION SELECT ECU: Occupant Detect.

ITEM PROCEDURE

Item	Procedure
DTC	Perform DTC check and repair
Write error	Replace front seat set (with occupant classification ECU and occupant detection sensor)
Temperature	Check value of THERMISTOR TEMP in ECU DATA LIST
Pressure	Check value of FILTERED PRESS in ECU DATA LIST
Crash counter	-

SENSITIVITY CHECK
1. Sensitivity check procedures
  1. Turn the engine switch off.
  2. Place a weight of 20 kg (44.0 lb) on the front passenger seat.
    NOTE:
    Do not allow the weight to come into contact with the seatback when placing it on the seat cushion.
    
    Place the weight in the area shown below.
  3. Turn the engine switch ON (IG), and wait for at least 6 seconds.
  4. Check that the passenger airbag ON/OFF indicator indicates OFF.
    OK: Passenger airbag ON/OFF indicator indicates OFF.
  5. Add a weight of 30 kg (66.1 lb) to the front passenger seat (total 50 kg (110.2 lb)).
    NOTE:
    Do not allow the weight to come into contact with the seatback when placing it on the seat cushion.
    
    Place the weight in the area shown below.
    
    Fig 43: Placing Weight On Front Passenger Seat
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  6. Check that the passenger airbag ON/OFF indicator indicates ON.
    OK: Passenger airbag ON/OFF indicator indicates ON.
REGISTRATION
NOTE:
- After the engine switch is turned off, the HDD navigation system requires approximately 6 minutes to record various types of memory and settings. As a result, after turning the engine switch off, wait 6 minutes or more before disconnecting the cable from the negative (-) battery terminal.
- If any DTCs related to the occupant classification ECU are output, troubleshoot those DTCs by referring to step 5.
- When ECU data saving or loading operations cannot be performed, replace the front seat set (with occupant classification ECU and occupant detection sensor).
HINT:
- When the front seat set (occupant classification ECU) is replaced, the previous ECU data must be saved in the Techstream and loaded into the new ECU by following the flowchart below.
- Until the data from the previous ECU are loaded into the new occupant classification ECU, these data are not erased even when the tester is turned off.
- ECU EXCHANGE procedure (Before Exchange) describes the procedure to save the data in the Techstream from the occupant classification ECU which was installed on the vehicle. ECU EXCHANGE procedure (After Exchange) describes the procedure to load the data from the previous ECU, stored in the Techstream, into the new ECU.
1. Connect the Techstream to the DLC3.
2. Turn the engine switch ON (IG).
3. Store the occupant classification ECU data in the Techstream by following the prompts on the tester screen.
  HINT:
  
  If the ECU data cannot be stored in the Techstream, replace the front seat set (with occupant classification ECU and occupant detection sensor).
4. Turn the engine switch ON (IG).
5. Disconnect the negative (-) terminal cable from the battery, and wait for at least 90 seconds.
6. Replace the front seat set (occupant classification ECU).
7. Connect the negative (-) terminal cable to the battery.
8. Turn the engine switch ON (IG).
9. Load the data from the previous ECU stored in the tester into the newly installed ECU by following the prompts on the tester screen.
10. Turn the engine switch OFF.
11. Turn the engine switch ON (IG).
12. Clear the DTCs stored in the memory.
  HINT:
  
  If DTCs are not cleared at this time, past DTCs will remain.
DESCRIPTION OF CODE REGISTRATION
HINT:
- The engine immobilizer function's ID code is the same as recognition codes for the smart access system with push-button start and the wireless transmitter. Registering an ID code enables the smart access with push-button start, the wireless door lock control function and the engine immobilizer function to be operated.
- Code registration is needed when the certification ECU, ID code box, steering lock ECU, ECM or key is replaced with a new one.
- This vehicle does not have a key slot. Therefore, touch the logo of the key to the engine switch to register the key, as shown below.
  
  Fig 44: Identifying Engine Switch
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

PART REPLACEMENT AND KEY REGISTRATION PROCEDURES

If a malfunctioning ECU is discovered through troubleshooting of the smart access system with push-button start, use the ECU replacement and key registration procedures in the table below.

HINT:

The following procedures require the use of the Techstream:
- New key ID registration
- Additional key ID registration
- Key ID erasure
- ECU code registration
If all of the registered keys are not available, replacement of the ID code box certification ECU and steering lock ECU are also required.
A maximum of 7 keys can be registered.

DIAGNOSIS PROCEDURE

Part to be replaced	Condition		Procedure
Certification ECU	Customer has brought all keys		Replace certification ECU Reregister all keys (new key ID registration)
	Some keys are lost	Key ID codes can be registered and erased	Erase key codes (key ID erasure) Perform additional key registration procedure (additional key ID registration) Replace certification ECU Reregister all keys (new key ID registration) HINT: If some keys are not registered during above steps, they will be disabled because they cannot be registered later
	Some keys are lost	Key ID codes cannot be either registered or erased	Replace certification ECU Replace ID code box Reregister all keys (new key ID registration) HINT: If key codes cannot be erased or additional keys cannot be registered due to a malfunction in certification ECU, replace ID code box and certification ECU. If some keys are not registered during above steps, they will be disabled because they cannot be registered later.
	All keys are lost		Replace certification ECU Replace ID code box Register all keys (new key ID registration) ECU communication ID registration
ID code box	At least 1 key is available		Replace ID code box ECU communication ID registration
ID code box	All keys are lost		Replace ID code box Replace certification ECU Register all keys (new key ID registration) ECU communication ID registration
Steering lock ECU	Customer has brought at least 1 key		Replace steering lock ECU Register recognition codes in ECUs (ECU code registration)
Steering lock ECU	All keys are lost		Replace certification ECU Replace ID code box Replace steering lock ECU Register all keys (new key ID registration) ECU communication ID registration
Main body ECU	No condition required		Replace main body ECU
ECM	No condition required		Replace ECM ECU communication ID registration HINT: Only perform procedure above when replacing with used ECM
Key	Customer has brought at least 1 key		Using remaining key, erase lost key (key ID erasure) Register additional keys as necessary (additional key ID registration)
Key	All keys are lost		Replace certification ECU Replace ID code box Replace steering lock ECU Register all keys (new key ID registration) ECU communication ID registration

KEY REGISTRATION PROCEDURES

New key ID registration (when replacing certification ECU and ID code box, or certification ECU, ID code box and steering lock ECU)

KEY REGISTRATION PROCEDURES

Process	Procedure
Start of registration	Connect Techstream to DLC3 Turn engine switch ON (IG) Select "Smart Access/Utility/Key Code Registration" from Techstream menu HINT: Engine switch cannot be turned ON (IG) more than 10 times. After connecting tester, turn tester on while turning driver side door courtesy light switch on and off repeatedly at 1.5 second intervals or less to continue key registration procedure.
Confirmation of ECU code	Perform operation according to prompts on tester screen HINT: Mode is automatically selected by tester (new registration mode or add mode)
Verification of unregistered key*	Touch logo of unregistered key to engine switch Confirm that wireless door lock buzzer sounds once (short beep) Place unregistered key on front passenger side seat Confirm that wireless door lock buzzer sounds once (short beep)
Registration of ID code	Perform operation according to prompts on tester screen
End of registration	Finish new key ID code registration
HINT: *: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from process 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.

New key ID registration (when replacing certification ECU)

KEY REGISTRATION PROCEDURES

Process	Procedure
Start of registration	Connect Techstream to DLC3 Turn engine switch ON (IG) Select "Smart Access/Utility/Key Code Registration" from Techstream menu HINT: Engine switch cannot be turned ON (IG) more than 10 times. After connecting tester, turn tester on while turning driver side door courtesy light switch on and off repeatedly at 1.5 second intervals or less to continue key registration procedure.
Confirmation of ECU code	Perform operation according to prompts on tester screen HINT: Mode is automatically selected by tester (new registration mode or add mode)
Confirmation of all registered keys*1	Touch logo of registered key to engine switch Confirm that wireless door lock buzzer sounds once (short beep)
Confirmation of ECU code	Perform operation according to prompts on tester screen
Verification of unregistered key*2	Touch log of unregistered key to engine switch Confirm that wireless door lock buzzer sounds Place unregistered key on front passenger side seat Confirm that wireless door lock buzzer sounds once (short beep)
Registration of ID code	Perform operation according to prompts on tester screen
End of registration	Finish new key ID code registration
HINT: 1: Repeat this process for each key registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from process 1 again. If performing the key confirmation procedure for a key, the security indicator comes on and remains on until all the keys are confirmed. 2: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.

Additional key ID registration

ADDITIONAL KEY ID REGISTRATION PROCEDURE

Process	Procedure
Start of registration	Connect Techstream to DLC3 Turn engine switch ON (IG) Select "Smart Access/Utility/Key Code Registration" from Techstream menu
Confirmation of registered key*1	Perform operation according to prompts on tester screen Touch logo of registered key to engine switch Confirm that wireless door lock buzzer sounds once (short beep)
Confirmation of ECU code	Perform operation according to prompts on tester screen
Verification of unregistered key*2	Touch logo of unregistered key to engine switch Confirm that wireless door lock buzzer sounds Place unregistered key on front passenger side seat Confirm that wireless door lock buzzer sounds (short beep)
Registration of ID code	Perform operation according to prompts on tester screen
End of registration	Finish key ID code registration
HINT: 1: Perform this process for one of the keys registered for the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform registration procedures from process 1 again. 2: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.

Key ID erasure (Erase all registered key codes except one)

KEY ID ERASURE PROCEDURE

Process	Procedure
Start of erasure	Connect Techstream to DLC3 Turn engine switch ON (IG) Select "Smart Access/Utility/Key Code Erasure" from Techstream menu
Confirmation of registered key*	Perform operation according to prompts on tester screen Touch logo of registered key to engine switch Confirm that wireless door lock buzzer sounds once (short beep)
Erasure of ID code	Perform operation according to prompts on tester screen
End of erasure	Finish key ID code erasure
HINT: *: Perform this process for one of the keys registered for the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform erasure procedures from process 1 again.

All keys ID erasure

ALL KEYS ID ERASURE PROCEDURE

Process	Procedure
Start of erasure	Connect Techstream to DLC3 Turn engine switch ON (IG) Turn Techstream on while turning driver side door courtesy light switch on and off repeatedly at 1.5 second intervals or less Select "Smart Access/Utility/Key Code Reset" from Techstream menu Read "SEED NUMBER" sent from TAS according to tester screen
Confirmation of registered key	Touch logo of registered key to engine switch
Erasure of ID code	Perform operation according to prompts on tester screen
End of erasure	Finish key ID code erasure

ECU code registration

ECU CODE REGISTRATION PROCEDURE

Process	Procedure
Start of registration	Connect Techstream to DLC3 Turn engine switch ON (IG) Select "Smart Access/Utility/ECU Communication ID Registration/ID code box and Steering Lock" from Techstream menu Read "SEED NUMBER" sent from TAS according to tester screen
Confirmation of registered key*	Touch logo of registered key close to engine switch Confirm that wireless door lock buzzer sounds once (short beep)
Erasure of ECU code	Perform operation according to prompts on tester screen
End of registration	Finish ECU code registration
HINT: *: Perform this process for one of the keys registered to the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform registration procedures from process 1 again.

ECU communication ID registration
NOTE:
- The ECU communication ID should be registered when the ID code box is replaced in order to match the ECU communication ID.
- The engine cannot be started unless ECU communication ID is registered.
- After the registration, pressing the engine switch may not start the engine on the first try. If so, press the engine switch again.
- After the engine is started, erase DTC B2799 (code for ECM's immobilizer communication error) using either of the following methods:
  - Use the Techstream.
  - Disconnect the battery for 30 seconds.
    
    Fig 45: Identifying DLC3 Connector Location
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
1. Using SST, connect terminal 13 (TC) and 4 (CG) of the DLC3.
  SST 09843-18040
2. Turn the engine switch ON (IG) (do not start the engine) and leave it as is for 30 minutes.
3. Turn the engine switch off and disconnect terminals 13 (TC) and 4 (CG).
4. Check that the engine starts for more than 3 seconds.

ECU communication ID reregistration

NOTE: The ECU communication ID should be registered when the ECM is replaced in order to match the ECU communication ID.

ECU COMMUNICATION ID REREGISTRATION TABLE

Procedure	Time	Security Indicator Light Condition
Start	-	OFF
While holding already registered key, turn the engine switch ON (IG) with brake pedal depressed
Check that engine starts and stays on for more than 3 seconds
Next
End

ADJUST OBJECT RECOGNITION CAMERA

NOTE:

Make sure there are no black and white patterned objects in front of the vehicle.
Perform the measurement in a place with no wind, and make sure there is 1.5 m (4.92 ft.) or more in front of the vehicle that has a level surface with no obstacles.
Check that there are no reflective materials in the surroundings or on the ground within a 3 m (9.84 ft.) or more x 3 m (9.84 ft.) or more area in front of the vehicle.
Perform the inspection in a bright area.

Fig 46: Identifying Object Recognition Camera Dimension
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Beam axis learning preparation
1. Move the vehicle to a level surface.
2. Make sure the engine oil in the vehicle is at the specified amount.
3. Make sure the engine coolant in the vehicle is at the specified amount.
4. Make sure the fuel tank is full.
5. Make sure the spare tire is in the vehicle.
6. Make sure the standard tools are in the vehicle.
7. Make sure nobody is in the vehicle.
8. Make sure no extra loads are in the vehicle.
9. Adjust the tire pressures to the specified pressure.
10. Clean the front glass.
11. If the lens of the object recognition camera sensor is dirty, apply a small amount of lens cleaner to a clean, soft cloth and clean the lens.
Perform adjustment suspension control system
1. Perform adjustment suspension control system.
  NOTE: Perform this procedure as accurately as possible.
Perform the front wheel alignment adjustment
1. Perform the front wheel alignment adjustment.
  NOTE: Perform this procedure as accurately as possible.
Perform the rear wheel alignment adjustment
1. Perform the rear wheel alignment adjustment.
  NOTE:
  - Perform this procedure as accurately as possible.
  - Press the height control switch and change the vehicle height to HIGH and return it to NORM. Then repeat.

Target sheet creation

Print or copy the graphic below. Check that the dimensions are +/- 5 mm of the ones in the table below.

AREA SPECIFICATIONS TABLE

Area	Specification
A	160 mm (6.30 in)
B	160 mm (6.30 in.)
C	80 mm (3.15 in.)
D	16 mm (0.63 in.)

NOTE:

Make sure that the black areas of the target sheets are not glossy.
Make sure that the borders of the black and white areas on the target sheets are straight, and are not warped or blurry.

Fig 47: Identifying Target Sheet Dimension
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

If the print or copy's dimensions are not as specified, adjust settings and reprint or recopy so that the print or copy's dimensions are as specified.

Fig 48: Identifying Target Sheet

Target sheet attachment
1. Place the prepared target sheet on a piece of cardboard of the same size with the black area on the top right, as shown below. Then use double-sided tape to fix the target sheet in place.
  NOTE: Do not attach reflective tape such as scotch tape, etc. to the target face, as this may affect target recognition.
  
  Fig 49: Identifying Target Sheet & Cardboard
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Hang a weight with a pointed tip from the center of the target sheet. Then with double-sided tape, attach the target sheet to the reflector so that the weight aligns with the mark-off line of the SST (laser radar adjusting reflector).
  SST 09870-60000 (09870-60010,09870-60020)
  NOTE:
  - Perform this procedure as accurately as possible.
  - Attach the target sheet so that it is horizontal with the ground.
    
    Fig 50: Hanging Weight With Pointed Tip From Center Of Target Sheet
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Move the reflector up and down to position the center of the target at the height shown below, and fix it in place.
  Dimension A:
  
  1270 mm (50 in.)
  
  SST 09870-60000 (09870-60010,09870-60020)
  
  NOTE: Perform this procedure as accurately as possible.
  
  Fig 51: Identifying Target Board Dimension
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Target placement point measurement
NOTE:
- Do not place black and white patterned objects near the target.
- Face the vehicle toward a wall with no patterns, or make sure the background behind the target has no patterns.
- Perform this procedure as accurately as possible.
- Do not place reflective materials in the area behind the target.
- Make sure there are no patterns on the wall behind the target.
- Make sure the distance between the target and wall is within 3 m (9.84 ft.).
- Make sure the target's shadow is not on the wall, as the camera may have a recognition error.
1. From the center of the front and back bumpers (center of the emblems), hang a weight with a pointed tip, and mark the front bumper center point A and the rear bumper center point B on the ground.
2. Draw a line that connects points A and B, and extend the line approximately 2 m (6.56 ft.) beyond the front of the vehicle.
  HINT:
  
  Secure the end of a string to point B. Then hold the other end of the string approximately 2 m (6.56 ft.) in front of the vehicle, and move it to the left or right to align the string with point A to make a straight line.
  
  Fig 52: Identifying Drawing Line Between Points A & B
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Mark point C 990 mm (38.98 in.) from the front bumper center point A (placement point 1).
  
  Fig 53: Identifying Dimension Between Front Bumper Center Point
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
4. From point C, move 700 mm (27.56 in.) towards the front bumper center point A and mark point D.
5. From point C, place marking tape at the point 700 mm (27.56 in.) perpendicular to the line that connects points A and B.
  NOTE: Place the tape so that there is plenty of surface area along the perpendicular line.
6. Using measuring tape {5 m (16.41 ft. or more)} and point D as the center point, draw the part of a 900 mm (38.98 in.) circle that overlaps the marking tape (line E).
7. Mark point F where the following intersect: 1) from point C, the point that is 700 mm (27.56 in.) perpendicular from the line that connects point A and B; and 2) line E.
8. Set the measuring tape from point C to F. Then mark point G 740 mm (29.13 in.) from point C (line extending from point C to F) (placement point 2).
9. Set measuring tape from point F to C. Then mark point H 740 mm (29.13 in.) beyond point C (placement point 3).
10. Set a string between points G and H, and draw a line on the ground (target placement line).
Object recognition camera sensor height measurement
NOTE:
- Do not place black and white patterned objects near the target.
- Face the vehicle toward a wall with no patterns, or make sure the background behind the target has no patterns.
- Perform this procedure as accurately as possible.
- Do not place reflective materials in the area behind the target.
- Make sure there are no patterns on the wall behind the target.
- Make sure the distance between the target and wall is within 3 m (9.84 ft.).
- Make sure the target's shadow is not on the wall, as the camera may have a recognition error.
1. Measure the distance (X mm or in.) from the ground to point H for the front left wheel arch.
2. Measure the distance (Y mm or in.) from the ground to point H for the front right wheel arch.
3. The average of the 2 distances (X mm or in, Y mm or in.) plus 599 mm (23.58 in.) is the height of the object recognition camera sensor.
Memorize camera/target position
1. When using the Techstream:
  1. Connect the Techstream to the DLC3.
  2. Turn the engine switch on (IG).
  3. Turn the Techstream main switch ON, and turn the LKA main switch ON.
  4. Select "Connect to Vehicle".
  5. Under "Option", select "LKA System".
  6. Under "System Selection Menu", select "Powertrain".
  7. Select "Object Recognition Camera".
    HINT:
    
    A buzzer will sound for 1 seconds.
  8. Follow the tester display, and continue with the adjustment.
    
    Fig 54: Identifying Front Left Wheel Arch Height
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Input the measured height of the object recognition camera sensor and the horizontal position of the camera "175 mm (6.89 in.)" into the input screen. Then press the "Next" button on the display screen.*3
3. Input "3000 mm (118.11 in.)" for the distance from the camera to the target and "1270 mm (50.00 in.)" for the height of the target into the input screen. Then press the "Next" button on the display screen.*4
4. Press the "Exit" button to finish the camera/ target position memory mode.
  NOTE: If "Error Camera/target position memory" is displayed on the screen, press the "Try Again" button, and repeat procedures *1 to *4 again.
Beam axis learning
1. Select "LKA System" from the display screen.*1
2. Select "Utility" from the display screen.
3. Select "Camera axis adjust" from the display screen.
4. Follow the tester display, and select "Next".
5. Align the target sheet with the target placement line, and align the mark-off line with placement point 1 (point C).*3
6. Check that the screen displays beam axis learning for target 1, then press the "Next" button on the display screen.*5
  
  Fig 55: Aligning Mark-Off Line With Placement Point 1 (Point C)
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
7. Align the target sheet with the target placement line, and align the mark-off line with placement point 2 (point G).*6
  NOTE: Within 3 minutes after the screen displays the beam axis learning for target 2, move the target and press the "Next" button on the display screen.
8. Check that the screen displays beam axis learning for target 2, then press the "Next" button on the display screen.*7
  
  Fig 56: Aligning Mark-Off Line With Placement Point 2 (Point G)
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
9. Align the target sheet with the target placement line, and align the mark-off line with placement point 3 (point H).*8
10. Check that the screen displays beam axis learning for target 3, then press the "Next" button on the display screen.*9
  NOTE: Within 3 minutes after the screen displays the beam axis learning for target 3, move the target and press the "Next" button on the display screen.
  
  Fig 57: Aligning Mark-Off Line With Placement Point 3 (Point H)
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
11. Press the "Exit" button to finish the beam axis learning mode.*10
  NOTE:
  If "Error camera axis adjust" is displayed on the screen, press the "Exit" button. Then after checking the conditions below, turn the engine switch on (IG) and off, and repeat from procedure *1 again.
  - Height of the target.
  - Distance from object recognition camera sensor to target.
  - Orientation of target (black area positioned on top right).
  - If surrounding area is bright enough.
  - If black and white patterned objects are placed near the target.

ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY

CAUTION: Exposure to radio frequency emissions is hazardous to your health. It is hazardous to your health to be within 20 cm (7.9 in.) of the device's radio frequency aperture.

NOTE:

This device complies with FCC radio frequency emission regulations.
Perform measurements on a level surface.
Make sure that no large pieces of metal are within a 10 m (32.81 ft.) x 14 m (45.93 ft.) area in front of the vehicle. If possible, the surrounding area should also be free of large metal objects.

Fig 58: Identifying Millimeter Wave Radar Sensor Assembly Dimension
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Before adjusting the radar beam axis, prepare the vehicle as follows.
1. Check the tire pressure and adjust it if necessary.
2. Remove all excess weight from the vehicle (luggage, heavy objects, etc.).
w/ Air suspension:
Adjust the vehicle's height to the standard height.

Check and adjust the vertical direction of the radar sensor.

Remove dust, oil and foreign matter from the radar sensor's level rack.
Set a level on the radar sensor's level rack.

Fig 59: Identifying Radar Sensor's Level Rack
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Check that the level's air bubble is within the red frame.

OK: Level's air bubble is within red frame.

If the bubble is not within the red frame, use a hexagon wrench to adjust bolt A until the air bubble is within the red frame.

HINT:

The adjustable range within the level's red frame is +-0.2°
The target angle is +0.2° (upward angle of 0.2°).

Result

RESULT TABLE

Adjustment Direction	Adjustment Procedure	Adjustment Angle
Vertical adjustment	Upward direction: Turn bolt A to negative (-) side	For every 8.4 rotations of adjustment bolt, sensor moves about 1°
Vertical adjustment	Downward direction: Turn bolt A to positive (+) side

Fig 60: Identifying Level's Air Bubble

Adjust the reflector height.
1. Adjust the reflector so that the center of the SST reflector is the same height as the millimeter wave radar sensor.
  SST 09870-60000
  
  HINT:
  
  Prepare a 10 m (32.81 ft.) string, a string with a sharp-pointed weight (plumb bob), and a 5 m (16.41 ft.) tape measure.
  
  Fig 61: Identifying Millimeter Wave Radar Sensor Assembly
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Place the reflector.
1. Hang the string (with weight) from the center of the vehicle rear's emblem. Mark the vehicle rear's center point on the ground. Repeat for the front of the vehicle.
2. Set one end of the 10 m (32.82 ft.) string on the vehicle rear's center point. Run the string over the vehicle front's center point to a position 5 m (16.41 ft.) beyond the vehicle front's center point, as shown in the below. Mark the 5 m (16.41 ft.) position.
3. Using a tape measure, measure 12 mm (0.47 in.) to the left of the 5 m (16.41 ft.) position. Place the reflector at that position.
  NOTE: Perform the operation as precisely as possible.
  
  Fig 62: Adjusting Center By Moving String To Right & Left
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  
  Fig 63: Identifying Reflector Placement Point Dimension
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
Check the radar beam axis.
1. When using the Techstream:
  1. Connect the Techstream to the DLC3.
  2. Turn the engine switch on (IG).
  3. Turn the Techstream main switch ON, and turn the cruise control main switch ON.
  4. Select "Connect to Vehicle".
  5. Under "Option", select "RADAR CRUISE".
  6. Select either "w/o LKA System" or "w/ LKA System".
  7. Under "System Selection Menu", select "Powertrain".
  8. Select "Radar Cruise".
    HINT:
    
    A buzzer will sound for 1 seconds.
  9. Follow the tester display, and continue with the adjustment.
2. Check the following items on the laser cruise divergence data screen.
  NOTE: While using the Techstream beam axis adjustment mode, the actual direction and angle of the radar sensor may be different from the Techstream's data. In such a case, the deviation is displayed on the combination meter's multi-information display.
  1. Confirm that the distance value is approximately 5 m (16.41 ft.).
    HINT:
    - A value between 0.0 and 6.3 m (20.67 ft.) is indicated.
    - If the distance is 0 m (0 ft.), the sensor cannot detect the target. Reconfirm that there is no metal in the specified area in front of the vehicle (refer to the NOTICE at the beginning of this adjustment procedure).
  2. Confirm that the left/right side value is between 0.0 and 6.3.
    HINT:
    
    If the distance is 0 m (0 ft.), the sensor cannot detect the target. Reconfirm that there is no metal in the specified area in front of the vehicle (refer to the NOTICE at the beginning of this adjustment procedure).

Check and adjust the horizontal direction of the radar sensor.

Check that the divergence of the radar beam axis is 0°.
Standard:

0° (Both right and left)

If the axis is not as specified, use a hexagon wrench to adjust bolt B until the divergence of the radar beam axis is 0°.

Based on the measured divergence of the beam axis, turn and adjust bolt B for horizontal adjustment of the millimeter wave radar sensor using a hexagon wrench.

Result

RESULT TABLE

Adjustment Direction	Adjustment Procedure	Adjustment Angle
Horizontal adjustment	Right direction: Turn bolt B to positive (+) side.	For every 18.6 rotations of adjustment bolt, sensor moves about 1°
Horizontal adjustment	Left direction: Turn bolt B to negative (-) side.

Fig 64: Adjusting Bolt B

HINT:

If "LEFT SIDE: 1.0°" is displayed, the divergence is 1.0° in the left direction. Turn bolt B approximately 18.6 turns to the negative (-) side.
If the value does not change to 0°, it is possible that the sensor is aiming at something different. Reconfirm that there are no reflective materials in the surrounding area.

Select "Next". The driving learning value is automatically reset.
HINT:

A buzzer will sound for 10 seconds.
Disconnect the Techstream from the DLC3.

Recheck and readjust the vertical direction of the radar sensor.

Set a level on the radar sensor's level rack.

Fig 65: Identifying Radar Sensor's Level Rack
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Check that the level's air bubble is within the red frame.

OK: Level's air bubble is within the red frame. If the bubble is not within the red frame, use a hexagon wrench to adjust bolt A until the level's air bubble is within the red frame.

HINT:

The adjustable range within the red frame is +/-0.20.
The target angle is +0.2° (upward angle of 0.2°).

Fig 66: Identifying Level's Air Bubble
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Result

RESULT TABLE

Adjustment Direction	Adjustment Procedure	Adjustment Angle
Vertical adjustment	Upward direction: Turn bolt A to negative (-) side	For every 8.4 rotations of adjustment bolt, sensor moves about 1°
Vertical adjustment	Downward direction: Turn bolt A to positive (+) side

INITIALIZATION WITH DIAGNOSIS SYSTEM
1. Start the diagnostic system
2. Perform STEERING CENTER MEMORIZE and MAX STEERING ANGLE MEMORIZE on the STEERING ANGLE SETTING screen
3. Finish the diagnostic system
INITIALIZATION WITH MANUAL OPERATION
1. Turn the engine switch on (IG) or start the engine.
2. Fully turn the steering wheel to the right.*
3. Fully turn the steering wheel to the left.*
  HINT:
  
  *: These procedures can be performed as shown or in reverse.
PREPARATION FOR ADJUSTMENT
HINT:

Only when adjusting the optical axis of the camera, set the target bar for adjustment.
1. Park the vehicle with its wheels facing straight ahead and the steering wheel centered.
2. Set the target bar for adjustment.
  HINT:
  - Adjust the tire pressure to the specification.
  - The target bar for adjustment is a piece of tape attached to the floor. Check the color on the screen and choose a tape color which can be easily seen.
  - Before parking the vehicle, move the vehicle back and forth to check that the wheels are facing straight ahead and that the steering wheel is centered.
  Fig 67: Identifying Preparation For Adjustment
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
BOOT DIAGNOSIS MODE
1. Start the engine.
2. Start the diagnostic system.
3. Select "Camera Check" on the Diagnosis Menu.
SET VEHICLE HEIGHT
1. At the "SIGNAL CHECK" screen, press "HT INIT" to display the "HEIGHT SET" screen.
  HINT:
  - Before performing the camera position setting, the vehicle height setting must be performed in the "HEIGHT SET" screen.
  - If the vehicle height setting is not completed, the "HT INIT" display will change to "CHECKING".
2. Measure the distance A between the ground and television camera as shown below.
3. Calculate the difference between the distance A and the standard height below.
  Standard:
  
  944 mm (37.2 in.)
  
  Fig 68: Identifying Distance A Between Ground & Television Camera
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
4. Press "UP" and "DOWN" to input the calculated difference.
5. After inputting the calculated difference, press "OK". The vehicle height setting will be recorded.
  HINT:
  - Press "OK" with the vehicle in the same condition as when the vehicle height was measured.
  - If a person was in the driver's seat when the vehicle height was measured, press "OK" with the same person in the driver's seat.
  - On the "SIGNAL CHECK" screen, check that the "HT INIT" display is "INPUT OK".
    
    Fig 69: Identifying Diagnosis Menu Screen Display -- VEHICLE HEIGHT
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
SET PARALLEL PARKING OFFSET
1. Select "PARALLEL OFFSET" on the SIGNAL CHECK menu.
2. Perform the parallel parking offset.
  1. Press the UP or DOWN switches to adjust.
    
    Fig 70: Identifying Signal Check Screen Display - PARALLEL PARKING OFFSET
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
SET VOLUME
1. Select "VOLUME" on the SIGNAL CHECK menu.
2. Select the volume level on the VOLUME menu.
  
  Fig 71: Identifying Signal Check Screen Display - SET VOLUME
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
SET CAMERA POSITION SETTING
1. Select the "NEXT" button on the SIGNAL MENU screen.
2. Perform the roll angle adjustment.
  1. Press the directional switches to rotate the target adjustment bares.
    
    Fig 72: Identifying Signal Menu Screen - CAMERA POSITION SETTING (1 Of 2)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Perform the vertical and horizontal position adjustment.
  1. Press the directional switches to move the target adjustment boxes.
    
    Fig 73: Identifying Signal Menu Screen - CAMERA POSITION SETTING (2 Of 2)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
SET BUMPER POSITION
1. Press the directional switches to move the target adjustment.
2. If the right and left bumper need to be adjusted individually, press the "L/R" button on the BUMPER.
  
  Fig 74: Identifying Signal Menu Screen Display - BUMPER
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
3. Press the directional switches to move the target adjustment on the LEFT BUMPER and RIGHT BUMPER screen.
  
  Fig 75: Identifying Signal Menu Screen Display - LEFT BUMPER
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
CHECK VERIFY MODE
1. Check that A and the target adjustment bar are overlapping.
  - If A and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the CAMERA POSITION SETTING operation.
2. Selecting "NEXT" will move to the STEERING ANGLE SETTING screen, and complete the adjustment.
  HINT:
  
  The update is not completed until the "NEXT" key is pressed.
  
  Fig 76: Identifying Screen Display - VERIFY MODE
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
SET STEERING ANGLE SETTING
1. Perform the STEERING CENTER MEMORIZE operation.
  1. Check that the steering wheel is centered, and then press "STEERING CENTER MEMORIZE".
    HINT:
    - When performing removal and installation, or replacement of the television camera, steering angle adjustment is not required. Press "OK" on the steering angle setting screen. However, the current steering angle is automatically stored as the steering angle neutral point when the steering angle setting screen is displayed. Make sure that the steering wheel is centered before changing the display to the steering angle setting screen.
      
      Fig 77: Identifying Steering Angle Setting Screen
      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    - Even when storing the steering angle neutral point only, the system cannot store it unless the operation is completed by following the prompts from "NEXT" to "OK".
2. Perform the MAX STEERING ANGLE MEMORIZE operation.
  1. After adjusting the steering angle neutral point, turn the steering wheel to the left and right lock positions and press "MAX STEERING ANGLE MEMORIZE". The maximum steering angle is then stored.
    HINT:
    
    The key "OK" does not respond until the system stores the steering angle neutral point and maximum steering angle.
FINISH DIAGNOSIS MODE
1. Turn the engine switch off.
MAYDAY ECU INITIALIZATION
HINT:

This procedure is for switching a new mayday ECU from the Factory Mode into Demo Mode.
1. Turn the engine switch from OFF to ON (IG) (engine does not have to be running).
2. The mayday ECU will perform the Factory Mode Start Sequence for approximately 30 seconds.
  HINT:
  - In Factory Mode, for each ignition cycle OFF to ON (IG), or after checking or clearing DTCs, the ECU will perform a start sequence that includes a Japanese prompt and flashing LEDs (approximately 30 seconds). Then the LEDs will turn off. Do not push any buttons during this start sequence.
  - If there is a DTC detected during this Factory Mode Start Sequence, after the start sequence, the red LED will remain on and a Japanese prompt will repeat 5 times. Do not press any buttons during these prompts.
3. BUTTON SEQUENCE:
  While pressing and holding the VOL+ button, press and release the PHONE button 5 times within 15 seconds, then release the VOL+ button. When switched to Demo Mode, each LED will flash one time then turn off (approximately 5 seconds).
4. CONFIRMATION:
  Confirm Demo Mode by pressing the SERVICES button and listening for the demo prompt "Hello and welcome to LEXUS Link..." (the engine switch must be ON (IG) for the SERVICES button to function). Additionally, after each ignition cycle OFF to ON (IG), the LEDs will each flash one time each. This start sequence takes approximately 5 seconds. If Demo Mode is not confirmed, repeat the initialization procedure.
  
  HINT:
  - Before troubleshooting a DTC, attempt to initialize the ECU into Demo Mode with the button sequence. Then access DTCs and troubleshoot the ECU in Demo Mode. If necessary, DTCs can still be accessed in Factory Mode. However, the 30 second Factory Mode Start Sequence (and the Japanese prompt will repeat 5 times if a DTC is set) will occur after each ignition cycle OFF to ON (IG), and after each DTC check or clear. Do not press any buttons during this start sequence.
  - A red LED continuously on in any mode indicates that there is a current DTC set. Refer to step 5 .
  - Do not push any buttons during any start sequences (LED flashing or voice prompts).
MAYDAY ECU REGISTRATION/ENROLLMENT
1. Turn the engine switch ON (IG) and wait for the 5 second LED flash start sequence. Press the SERVICES button when the mayday ECU is set normally and confirm that the following demo message is provided.
  "Hello and welcome to LEXUS Link..." If the message is not provided, perform the "MAYDAY ECU INITIALIZATION BUTTON SEQUENCE" again.
2. As the message states, press the SERVICES button again during the prompt to connect to the LEXUS Link call center.
  HINT:
  
  Usually this call will connect within 15 to 30 seconds. However, it may take several minutes depending on cellular service in the area. A progression tone (i.e., beep) will be heard every 5 seconds to indicate that the connection attempt is in progress.
3. A LEXUS Link call center advisor will answer and instruct the technician on how to register/enroll the new mayday ECU. The ESN, STID and VIN may be required at this time.
  HINT:
  - If the LEXUS Link call center cannot be reached after several attempts using the SERVICES button, or a cell tower message is heard, such as "Welcome to Verizon Wireless, your phone is not active at this time...", call the LEXUS Link call center by pushing the EMERGENCY button.
  - The LED flash start sequence (approximately 5 seconds) after ignition is cycled or after checking/ clearing DTCs remains present after enrollment. A green LED continuously on after this sequence indicates that the LEXUS Link System is activity enrolled.
MAYDAY BATTERY REGISTRATION
HINT:
- This procedure is required to register a new mayday battery and clear DTC 6-1. This procedure matches the new mayday battery with the new or used ECU.
- A new mayday ECU always requires a new mayday battery (used mayday batteries should not be reused in a new ECU).
- If the new replacement ECU is packaged and already connected to the new mayday battery when it arrives from the factory, and current DTC 6-1 is not set, do not perform the new mayday battery registration (the battery is already registered to the ECU that it is connected to).
1. Turn the engine switch from OFF to ON (IG) and wait for the start up sequence of LED flashing to complete. Do not press any buttons during this start up sequence.
  (Note that Demo Mode and active enrolled ECUs have approximately a 5 second LED flashing start sequence. Factory Mode has approximately 30 seconds of LED flashing with a Japanese voice prompt. Also note if a current DTC is set in Factory Mode after this start sequence. This can be confirmed if the red LED remains on and an additional Japanese prompt repeats 5 times.)
2. BUTTON SEQUENCE:
  Press and hold the PTT button while completing the following sequence of button presses.
  
  VOL+, VOL+, VOL-, VOL-, VOL+, VOL+, VOL-, VOL-, VOL+, VOL+, VOL-, VOL-
  
  Release all buttons. This button press sequence should be performed within 15 seconds.
3. The system will then perform the same start sequence as described above. After this start sequence completes, cycle the ignition to off then ON (IG). Wait for the start sequence to complete. The new mayday battery is now registered to the mayday ECU and DTC 6-1 should be cleared.
  HINT:
  
  The mayday battery registration can be done in any mode (Factory Mode, Demo Mode or activity enrolled).
MAYDAY BATTERY CONFIRMATION
1. After replacement check: If the "MAYDAY BATTERY REGISTRATION BUTTON SEQUENCE" has been completed, turn the engine switch OFF and ON (IG), wait for the start sequence described in the "MAYDAY BATTERY REGISTRATION". Then check that current DTC 6-1 is cleared.
  NOTE: If the "MAYDAY BATTERY REGISTRATION BUTTON SEQUENCE" has not been completed correctly, current DTC 6-1 will continue to be detected even if the mayday battery is replaced with a new one. In this case, check to be sure the old battery is removed and the new battery is installed. Then perform the "MAYDAY BATTERY REGISTRATION BUTTON SEQUENCE" again.
INITIALIZE POWER WINDOW CONTROL SYSTEM (POWER WINDOW REGULATOR MOTOR (ALL DOORS))
CAUTION: When the power window regulator motor is reinstalled or replaced, the power window control system must be initialized. Functions such as the AUTO UP / DOWN, jam protection and key-off do not operate if the initialization is not performed.

HINT:

When the battery is replaced, it is not necessary to initialize the power window regulator motor.
NOTE:
- When the power window regulator motor assembly is replaced, DTC B2313 is output. Clear the DTC after the initialization.
- When performing initialization, do not perform any other procedures.
- After a door glass or a door glass run has been replaced, the jam protection function may operate unexpectedly when the AUTO UP function is used, due to detection of the different operation learned value of the door glass movement speed. In such cases, the AUTO UP function can be resumed by repeating the following operation at least 5 times:
  1. Open the power window by fully pushing down the switch.
  2. Close the power window by fully pulling up the power window switch and holding it at the AUTO UP position.
- If the initialization is not completed properly, the LIN communication system may have a malfunction.
1. Initialization procedures when replacing the power window regulator motor with new one
  1. Connect the battery and turn the engine switch ON (IG). (At this time, the LED on the power window regulator switch blinks to indicate that it is ready for initialization.)
  2. Fully open the window by fully pushing the power window regulator switch, and hold the switch for 1 second or more after the window is fully opened.
  3. Fully close the power window by fully pulling the power window regulator switch, and hold the switch for 1 second or more after the window is fully closed to reset the glass position. The LED on the power window regulator switch changes from blinking to illuminated to indicate that the initialization is complete.
2. Initialization procedures when removing/installing the power window regulator motor assembly
  1. Connect the battery and turn the engine switch ON (IG). (At this time, the LED on the power window regulator switch blinks to indicate that it is ready for initialization.)
  2. Fully close the power window by fully pulling the power window regulator switch, and hold the switch for 6 seconds or more after the window is fully closed. (If the power window does not move or stops halfway even when the switch is fully pulled, release the switch and fully pull it again.)
  3. Fully open the window by pushing down the power window regulator switch, and hold the switch for 1 second or more after the window is fully opened.
  4. Release the power window regulator switch. Then fully push and hold the switch 4 seconds or more.
  5. Fully close the power window by fully pulling the power window regulator switch, and hold the switch 1 second or more after the window is fully closed to reset the glass position. The LED on the power window regulator switch changes from blinking to illuminated to indicate that the initialization is complete.
3. Initialization procedures when the power window does not fully open
  1. Perform the initialization procedures when removing/installing the power window regulator motor assembly.
COMPASS DISPLAY MODE SELECTION
1. Turn the compass display ON and OFF by pressing and holding the AUTO switch for 3 seconds.
2. Procedures for selecting compass mode.
  1. Turn the engine switch ON (IG).
  2. Check that the inner mirror's LED illuminates green.
  3. Check that one of the following directions is displayed: N, NE, E, SE, S, SW, W, NW.
  4. Press and hold the inner mirror's AUTO switch for 3 seconds, and check that the direction display turns off.
    HINT:
    
    Immediately after the AUTO switch is pressed, check that the LED turns off and the inner mirror anti-glare mode turns off. Then, after the AUTO switch is pressed and held for 3 seconds, check that the LED illuminates and the inner mirror anti-glare mode turns on.
COMPASS ZONE SETTING
1. The location of magnetic north and true north differs depending on the vehicle's location. Adjustment of the compass's magnetism is required. The user must select a zone as the automatic adjustment will be different depending on the vehicle's location.
2. Change the inner mirror's zone setting using the AUTO switch procedures described below.
3. Procedures for selecting zone.
  1. Turn the engine switch ON (IG).
  2. Check that the inner mirror's LED illuminates green.
  3. Check that one of the following directions is displayed: N, NE, E, SE, S, SW, W, NW.
  4. Press and hold the inner mirror's AUTO switch for 3 seconds, and check that the direction display turns off.
  5. Do not release the AUTO switch and hold it for another 3 seconds (total press time: 6 seconds). Check that ZONE or a number from 1 to 15 is displayed on the compass.
  6. Each press of the AUTO switch causes the number display to increase by 1. Use the zone setting map to find the appropriate zone and set the zone number.
  7. After setting the zone number, check that waiting several seconds causes the compass to return to the direction display.
COMPASS ZONE MAP
COMPASS CALIBRATION
1. Compass calibration should be performed on each vehicle, as each vehicle has a unique magnetic field. Performing compass calibration will store information about the vehicle's magnetic field.
2. Procedures for calibration.
  1. Turn the engine switch ON (IG).
  2. Check that the inner mirror's LED illuminates green.
  3. Check that one of the following directions is displayed: N, NE, E, SE, S, SW, W, NW.
  4. Press and hold the inner mirror's AUTO switch for 3 seconds, and check that CAL is displayed on the compass.
  5. Perform calibration by driving the vehicle at 8 km/h (5 mph) or less in a circle.
  6. Drive in a circle 1 to 3 times, and check that calibration is completed by confirming that CAL is not displayed on the compass.
    HINT:
    
    After the calibration is performed once, calibration will not be necessary unless the vehicle's magnetic field changes drastically. If the magnetic field has changed, CAL will be displayed on the compass.
INITIALIZE FRONT POWER SEAT CONTROL SYSTEM
NOTE: The position sensor initialization must be performed if one of the following occurs: 1) the front power seat switch (seat ECU) is replaced or removed and installed; 2) the front seat adjuster is replaced; or 3) the initialization cancel operation is performed.
1. For Driver Side:
  Initialize the power seat ECU as follows.
  1. Turn the engine switch ON (IG).
  2. Press the power seat switch front vertical switch downward 3 times.*1
  3. Within 10 seconds of the above operation, begin the following operation: perform the rearward reclining operation and upward lifter operation simultaneously for 10 seconds or more (buzzer sounds 0.5 seconds). This will cancel the initializations
  4. Use the slide operation to move the front power seat to the rearmost lock position.*3
    HINT:
    - While performing the slide operation, the buzzer sounds.
    - After the slide operation initialization is complete, the headrest and cushion extender initialization occurs automatically. At this time, the headrest will move to the uppermost position, and the cushion extender will move rearward.
      
      Fig 79: Initializing Power Seat ECU (Driver Side)
      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  5. Use the reclining operation to move the seatback to the foremost lock position (buzzer sounds for 0.5 seconds).
    
    Fig 80: Moving Seatback To Foremost Lock Position
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  6. Operate the power seat switch and check that the head restraint moves to be lowermost position.*1
  7. Operate the power seat switch and check that the seat slides forward and rearward and that the beeping sound is not emitted.*2
    HINT:
    
    After performing all of the procedures above, if the buzzer sounds while performing a manual operation, the initialization was not completed properly. Repeat all of the above procedures.
    
    Fig 81: Identifying Power Driver Seat Switch Position
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. For Passenger Side:
  Initialize the power seat ECU as follows.
  1. Turn the engine switch ON (IG).
  2. Press the power seat switch front vertical switch downward 3 times.*1
  3. Within 10 seconds of the above operation, begin the following operation: perform the rearward reclining operation and upward lifter operation simultaneously for 10 seconds or more (buzzer sounds 0.5 seconds). This will cancel the initialization.*2
  4. Use the slide operation to move the front power seat to the rearmost lock position.*3
    HINT:
    - While performing the slide operation, the buzzer sounds.
    - After the slide operation initialization is complete, the headrest and lifter initialization occurs automatically. At this time, the headrest will move to the lowermost position, and the lifter will move either upward or downward.
      
      Fig 82: Initializing Power Seat ECU (Passenger Side)
      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  5. Use the reclining operation to move the seatback to the foremost lock position (buzzer sounds for 0.5 seconds).
    
    Fig 83: Moving Seatback To Foremost Lock Position
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  6. Operate the power seat switch and check that the head restraint moves to be upmost positional
  7. Operate the power seat switch and check that the seat slides forward and rearward and that the beeping sound is not emitted.*2
    HINT:
    
    After performing all of the procedures above, if the buzzer sounds while performing a manual operation, the initialization was not completed properly. Repeat all of the above procedures.
REAR POWER SEAT INITIALIZATION
NOTE: The position sensor initialization must be performed if one of the following occurs: 1) the position control ECU is replaced or removed and installed; 2) the rear seat adjuster is replaced; or 3) the initialization cancel operation is performed.

HINT:

The initialization is only performed for the seat selected with the left/right selection switch.

Fig 84: Identifying Power Passenger Seat Switch Position
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
1. Initialization cancel operation
  1. Turn the engine switch ON (IG).
  2. Press the rear power seat switch upper lumbar switch rearward 3 times.
    
    Fig 85: Checking Rear Power Seat Initialization Cancel Operation (1 Of 2)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  3. Within 10 seconds of the above operation, begin the following operation: perform the downward headrest operation and forward slide operation simultaneously for 10 seconds or more. This will cancel the initialization (buzzer sounds for 0.5 seconds).
    
    Fig 86: Checking Rear Power Seat Initialization Cancel Operation (2 Of 2)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Initialization operation
  HINT:
  - *: w/ Ottoman
  - If the initialization is not completed, the buzzer will sound during the manual operation.
  1. Perform the initialization cancel operation.
  2. Use the slide operation to move the rear power seat to the rearmost lock position.
    HINT:
    
    While performing the slide operation, the buzzer sounds.
    
    Fig 87: Identifying Rear Power Seat Switch Upper Lumbar Switch (Slide)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  3. Use the reclining* operation to move the rear power seat to the rearmost lock position (buzzer sounds for 0.1 seconds).
    
    Fig 88: Identifying Rear Power Seat Switch Upper Lumbar Switch (Reclining)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  4. Use the ottoman* operation to move the rear power seat to the lowermost lock position (buzzer sounds for 0.1 seconds).
    
    Fig 89: Identifying Rear Power Seat Switch Upper Lumbar Switch (Ottoman)
    Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  5. Use the upper lumbar operation to move the upper seatback to the rearmost lock position (buzzer sounds for 0.5 seconds). The initialization is complete.
  6. Operate the power seat switch and check that the seat slides forward and rearward and that the beeping sound is not emitted.
RESET POWER TRUNK LID SYSTEM
NOTE: Perform initialization of the power trunk lid system (power trunk lid control ECU initialization) if one of the following is performed: 1) The negative (-) battery cable is disconnected; 2) a wire harness, the luggage closer motor (power trunk lid control ECU) or luggage compartment door closer is replaced or removed/installed; or 3) the RR MPX-B1 fuse is replaced or removed/installed. If initialization is not performed, the power trunk lid system will not operate.

Fig 90: Identifying Rear Power Seat Switch Upper Lumbar Switch
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
1. Completely close the luggage compartment door by hand once.
  HINT:
  - It is not necessary to perform initialization if the negative (-) battery cable is disconnected while the luggage compartment door is closed.
  - If the power trunk lid system does not operate and/or the luggage compartment door does not open, disconnect the negative (-) battery cable. Then wait 10 seconds, reconnect the cable and perform initialization of the power trunk lid system again.
RESET REAR DOOR SUNSHADE SYSTEM
NOTE: The rear curtain position reset operation must be performed when one of the following occurs: 1) battery removal and installation; 2) ECU reset; or 3) jam protection related detachment.
1. Turn the engine switch on.
2. Push the front or rear switch's rear door sunshade switch.
  HINT:
  
  The motor must be moved in the lowering direction.
3. Push the front or rear switch's rear door sunshade switch.
  HINT:
  
  Make sure that the rear curtain raises.

INITIALIZE SLIDING ROOF DRIVE GEAR SUB-ASSEMBLY

NOTE:

When the sliding roof glass is replaced or removed and installed, or the drive gear assembly is replaced, the sliding roof drive gear requires initialization (pulse sensor initial position setting), as the glass position cannot be determined. If initialization is not performed, the AUTO slide open and close / tilt up and down function may not operate, or the sliding roof may move in reverse or become misaligned.
During initialization, do not apply a physical shock, such as opening/closing a door or driving the vehicle at 5 km/h (3.10 mph) or more, to the vehicle and do not perform the following electrical operations:
1. Cranking the engine
2. Turning the engine switch from on (IG) to off
3. Operating the power window switches
4. Operating the window defogger switch
5. Operating the blower switch
6. Locking/Unlocking the door (g). Operating the headlight dimmer switch

HINT:

When the cable is disconnected and reconnected to the negative (-) battery terminal or the drive gear connector is disconnected and reconnected, the sliding roof drive gear (pulse sensor initial position setting) initialization is not necessary.

Perform initialization according to the table below.

SLIDING ROOF SPECIFICATION TABLE

Condition of Sliding Roof	Proceed to
AUTO slide open and close / tilt up and down function does not operate	Procedure A
Sliding roof moves in reverse direction during tilt down operation	Procedure B
Sliding roof moves in reverse direction during slide close operation	Procedure C

Procedure A
1. Turn the engine switch on (IG).
2. Close the sliding roof to the fully closed position.
3. Press and hold the TILT UP switch to perform the following operations: tilt up → approximately 1 second pause → tilt down → slide open → slide close.
  NOTE: Make sure not to release the switch during the initialization. If the switch is released, perform the initialization again.
4. The initialization is completed.
Procedure B
1. Turn the engine switch on (IG).
2. Press the TILT UP switch until the sliding roof stops.
  HINT:
  
  If the glass becomes misaligned or does not fully tilt up, perform the following operations:
  1. Operate the SLIDE CLOSE switch until the sliding roof stops moving.
  2. Operate the TILT UP switch until the sliding roof stops moving, then proceed to the next step.
3. Release the switch.
4. Press the TILT UP switch for 10 seconds or more to perform the following operations: tilt up → approximately 1 second pause → tilt down → slide open → slide close.
  NOTE: Make sure not to release the switch during the initialization. If the switch is released, perform the initialization again.
5. The initialization is completed.
Procedure C
1. Turn the engine switch on (IG).
2. Press and hold the SLIDE CLOSE switch to perform the following operations: slide close → move in reverse direction → 10 second pause → slide close.
  NOTE: Make sure not to release the switch during the initialization. If the switch is released, perform the initialization again.
3. After the sliding roof stops in the fully closed position, release the switch.
4. Perform procedure A.