Inspection Procedure

NOTE: When replacing the skid control ECU, perform the following operations:

Initialization of linear solenoid valve and calibration (see INITIALIZATION )
Yaw rate and acceleration sensor zero point calibration (see CALIBRATION )

HINT:

Start the inspection from "CHECK HARNESS AND CONNECTOR" when using the Intelligent tester or Techstream and start from "PERFORM TEST MODE" when not using the Intelligent tester or Techstream.

CHECK HARNESS AND CONNECTOR (MOMENTARY INTERRUPTION)

Using the Intelligent tester or Techstream, check for any momentary interruption in the harness and connector corresponding to a DTC (see CHECK FOR INTERMITTENT PROBLEMS )

Intelligent tester

ABS/VSC:

ABS/VSC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition
FR SPD OPN	Front speed sensor RH open detection / ERROR or NORMAL	ERROR Momentary interruption NORMAL Normal
FL SPD OPN	Front speed sensor LH open detection / ERROR or NORMAL	ERROR Momentary interruption NORMAL Normal

Techstream

ABS/VSC/TRAC:

ABS/VSC/TRAC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition
FR Speed Sensor Open	Front speed sensor RH open detection / ERROR or NORMAL	ERROR Momentary interruption NORMAL Normal
FL Speed Sensor Open	Front speed sensor LH open detection / ERROR or NORMAL	ERROR Momentary interruption NORMAL Normal

OK: There are no momentary interruptions.

HINT:

Perform the above inspection before removing the sensor and connector.

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR (SPEED SENSOR CIRCUIT)

OK: Go to next step

READ VALUE USING INTELLIGENT TESTER OR TECHSTREAM (FRONT WHEEL SPEED / FRONT WHEEL DIRECTION)

Connect the Intelligent tester or Techstream to the DLC3.
Turn the power switch ON (READY)
Select the DATA LIST mode on the Intelligent tester or Techstream.

Check that the speed value output from the speed sensor displayed on the Intelligent tester or Techstream and the speed value displayed on the speedometer are almost the same when driving the vehicle

OK: The speed value output from the speed sensor displayed on the Intelligent tester or Techstream is the same as the actual vehicle speed.

Intelligent tester

ABS/VSC:

ABS/VSC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition	Diagnostic Note
FR WHEEL SPD	Front wheel speed sensor RH reading / min 0 km/h (0 mph), max. 326 km/h (202 mph)	Actual wheel speed	Similar speed as indicated on speedometer
FL WHEEL SPD	Front wheel speed sensor LH reading / min 0 km/h (0 mph), max 326 km/h (202 mph)	Actual wheel speed	Similar speed as indicated on speedometer

Techstream

ABS/VSC/TRAC:

ABS/VSC/TRAC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition	Diagnostic Note
FR Wheel Speed	Front wheel speed sensor RH reading / min 0 km/h (0 mph), max 326 km/h (202 mph)	Actual wheel speed	Similar speed as indicated on speedometer
FL Wheel Speed	Front wheel speed sensor LH reading / min 0 km/h (0 mph), max 326 km/h (202 mph)	Actual wheel speed	Similar speed as indicated on speedometer

Check that the sensor signal conforms to the wheel direction

OK: The wheel direction is displayed.

Intelligent tester

ABS/VSC:

ABS/VSC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition
FR WHEEL DIR	Front wheel direction RH / FORWARD or BACK	FORWARD Forward BACK Back
FL WHEEL DIR	Front wheel direction LH / FORWARD or BACK	FORWARD Forward BACK Back

Techstream

ABS/VSC/TRAC:

ABS/VSC/TRAC REFERENCE

Tester Display	Measurement Item/Range	Normal Condition
FR Wheel Direction	Front wheel direction RH / FORWARD or BACK	FORWARD Forward BACK Back
FL Wheel Direction	Front wheel direction LH / FORWARD or BACK	FORWARD Forward BACK Back

NG: Go to step 5

OK: Go to next step

PERFORM TEST MODE (SIGNAL CHECK)
1. Clear the DTC (see DTC CHECK / CLEAR ).
2. Perform sensor signal check in "TEST MODE PROCEDURE " .
  OK: All Test Mode DTCs are erased.
NG: Go to step 5

OK: Go to next step

RECONFIRM DTC

Clear the DTC (see DTC CHECK / CLEAR ).
Turn the power switch ON (READY).
Drive the vehicle at a speed of 32 km/h (20 mph) or more for 60 seconds or more.

Check if the same DTCs are recorded (see DTC CHECK / CLEAR )

Result

RESULT REFERENCE

Result	Proceed to
DTCs (C0200/31 and C0205/32) are not output	A
DTCs (C0200/31 and C0205/32) are output	B

HINT:

If troubleshooting has been carried out according to the "PROBLEM SYMPTOMS TABLE", refer back to the table and proceed to the next step (see PROBLEM SYMPTOMS TABLE ).

B: Go to step 11

A: USE SIMULATION METHOD TO CHECK (See HOW TO PROCEED WITH TROUBLESHOOTING )

INSPECT FRONT SPEED SENSOR INSTALLATION
1. Check the sensor installation.
  OK: There is no clearance between the sensor and the front steering knuckle, and the installation bolt is tightened properly.
  
  Torque: 8.5 N*m (87 kgf*cm, 75 in.*lbf)
  
  NOTE: Check the speed sensor signal after reinstallation (see TEST MODE PROCEDURE ).
  
  Fig 1: Inspecting Front Speed Sensor Installation
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
NG: SECURELY REINSTALL FRONT SPEED SENSOR (See INSTALLATION )

OK: Go to next step
INSPECT FRONT SPEED SENSOR TIP
1. Remove the front speed sensor
2. Check the sensor tip.
  OK: No scratches or foreign matter on the sensor tip.
  
  NOTE: Check the speed sensor signal after cleaning/ replacement (see TEST MODE PROCEDURE ).
NG: CLEAN OR REPLACE FRONT SPEED SENSOR (See REMOVAL )

OK: Go to next step

CHECK FRONT SPEED SENSOR WIRE

Disconnect the front speed sensor wire RH connectors (vehicle side: A55, sensor side: A).
Disconnect the front speed sensor wire LH connectors (vehicle side A5, sensor side: A).

Fig 2: Identifying A55 And A5 Connector Terminals
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

Measure the resistance according to the value(s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION

Tester Connection	Condition	Specified Condition
"A"-2 (FR+) - A55-2	Always	Below 1 Ω
"A"-2 (FR+) - A55-1	Always	10 kΩ or higher
"A"-2 (FR+) - Body ground	Always	10 kΩ or higher
"A"-1 (FR-) - A55-1	Always	Below 1 Ω
"A"-1 (FR-) - A55-2	Always	10 kΩ or higher
"A"-1 (FR-) - Body ground	Always	10 kΩ or higher

for LH

RESISTANCE SPECIFICATION

Tester Connection	Condition	Specified Condition
"A"-1 (FL+) - A5-1	Always	Below 1 Ω
"A"-1 (FL+) - A5-2	Always	10 kΩ or higher
"A"-1 (FL+) - Body ground	Always	10 kΩ or higher
"A"-2 (FL-) - A5-2	Always	Below 1 Ω
"A"-2 (FL-) - A5-1	Always	10 kΩ or higher
"A"-2 (FL-) - Body ground	Always	10 kΩ or higher

NOTE: Check the speed sensor signal after replacement (see TEST MODE PROCEDURE ).

NG: REPLACE FRONT SPEED SENSOR WIRE (See REMOVAL )

OK: Go to next step

CHECK HARNESS AND CONNECTOR (SKID CONTROL ECU - FRONT SPEED SENSOR WIRE)

Disconnect the A19 and A21 ECU connectors.
Disconnect the A55 sensor wire connector.
Disconnect the A5 sensor wire connector

Measure the resistance according to the value(s) in the table below.

Standard resistance:

for RH

RESISTANCE SPECIFICATION

Tester Connection	Condition	Specified Condition
A19-16 (FR+) - A55-2	Always	Below 1 Ω
A19-15 (FR-) - A55-1	Always	Below 1 Ω
A19-16 (FR+) - Body ground	Always	10 kΩ or higher
A19-15 (FR-) - Body ground	Always	10 kΩ or higher

for LH

RESISTANCE SPECIFICATION

Tester Connection	Condition	Specified Condition
A21-16 (FL+) - A5-1	Always	Below 1 Ω
A21-15 (FL-) - A5-2	Always	Below 1 Ω
A21-16 (FL+) - Body ground	Always	10 kΩ or higher
A21-15 (FL-) - Body ground	Always	10 kΩ or higher

Fig 3: Identifying A19, A21, A5 And A55 Connector Terminals

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

NG: REPAIR OR REPLACE HARNESS OR CONNECTOR

OK: Go to next step

CHECK SKID CONTROL ECU (SENSOR INPUT VOLTAGE)

Reconnect the A19 and A21 ECU connectors.
Disconnect the A55 sensor wire connector
Disconnect the A5 sensor wire connector.
Turn the power switch ON (IG)

Measure the voltage according to the value s) in the table below.

Fig 4: Identifying A5 And A55 Connector Terminals

Standard voltage

VOLTAGE SPECIFICATION

Tester Connection	Switch Condition	Specified Condition
A55-2 - Body ground	Power switch ON (IG)	6.7 to 14 V
A5-1 - Body ground	Power switch ON (IG)	6.7 to 14 V

NG: REPLACE SKID CONTROL ECU (See REMOVAL )

OK: Go to next step

RECONFIRM DTC

Clear the DTC (see DTC CHECK / CLEAR )
Turn the power switch ON (READY)
Drive the vehicle at a speed of 32 km/h (20 mph) or more for 60 seconds or more.

Check if the same DTCs are recorded (see DTC CHECK / CLEAR ).

HINT:

Reinstall the sensors, connectors, etc. and restore the vehicle to its prior condition before rechecking for DTCs

Result

RESULT REFERENCE

Result	Proceed to
DTCs (C0200/31 and C0205/32) are output	A
DTCs (C0200/31 and C0205/32) are not output	B

HINT:

If troubleshooting has been carried out according to the "PROBLEM SYMPTOMS TABLE", refer back to the table and proceed to the next step (see PROBLEM SYMPTOMS TABLE )

B: USE SIMULATION METHOD TO CHECK (See HOW TO PROCEED WITH TROUBLESHOOTING )

A: Go to next step

REPLACE FRONT SPEED SENSOR
1. Replace the front speed sensor (see REMOVAL )
  NOTE: Check the speed sensor signal after replacement (see TEST MODE PROCEDURE ).

RECONFIRM DTC

Clear the DTC (see DTC CHECK / CLEAR ).
Turn the power switch ON (READY).
Drive the vehicle at a speed of 32 km/h (20 mph) or more for 60 seconds or more.

Check if the same DTCs are recorded (see DTC CHECK / CLEAR )

HINT:

Reinstall the sensors, connectors, etc. and restore the vehicle to its prior condition before rechecking for DTCs

Result

RESULT REFERENCE

Result	Proceed to
DTCs (C0200/31 and C0205/32) are output	A
DTCs (C0200/31 and C0205/32) are not output	B

HINT:

If troubleshooting has been carried out according to the "PROBLEM SYMPTOMS TABLE", refer back to the table and proceed to the next step (see PROBLEM SYMPTOMS TABLE )

B: END

A: Go to next step

INSPECT SPEED SENSOR ROTOR
1. Remove the front axle hub and bearing (speed sensor rotor) (see REMOVAL )
2. Check the sensor rotor
  OK: No scratches, oil, or foreign matter on the rotor.
  
  HINT:
  
  If the sensor rotor is damaged, replace the 1 rant axle hub and bearing assembly
  NOTE:
  - Do not use any kind of cleaner when cleaning the speed sensor rotor.
  - Check the speed sensor signal after cleaning/ replacement (see TEST MODE PROCEDURE ).
NG: CLEAN OR REPLACE FRONT AXLE HUB AND BEARING ASSEMBLY (SPEED SENSOR ROTOR) (See REMOVAL )

OK: REPLACE SKID CONTROL ECU (See REMOVAL )