Toyota Yaris: Vehicle Stability Control System / Multi-axis Acceleration Sensor Module "A" Missing Calibration (C051D54,C121054)
DESCRIPTION
The airbag sensor assembly has a built-in yaw rate and acceleration sensor and detects the vehicle condition.
The skid control ECU (brake actuator assembly) receives signals from the yaw rate and acceleration sensor (airbag sensor assembly) via CAN communication.
HINT:
If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag sensor assembly) and the CAN communication system, DTCs U012587 are output. When DTCs U012587 are output together with C051D54 and/or C121054, inspect and repair the trouble areas indicated by U012587 first.
These DTCs are also output when the calibration has not been completed.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | DTC Output from |
|---|---|---|---|---|
| C051D54 | Multi-axis Acceleration Sensor Module "A" Missing Calibration | Zero point calibration of acceleration sensor undone. |
| Brake |
| C121054 | Yaw Rate Sensor Missing Calibration | Zero point calibration of yaw rate sensor undone. | Yaw rate sensor zero point not calibrated | Brake |
CAUTION / NOTICE / HINT
NOTICE:
-
After replacing the skid control ECU (brake actuator assembly), perform "Calibration".
Click here
PROCEDURE
| 1. | CHECK GTS OUTPUT (CAN COMMUNICATION SYSTEM) |
(a) Operate the GTS, and check for DTCs related to the CAN communication system.
Click here
| Result | Proceed to |
|---|---|
| Any CAN communication system relating DTCs are output | A |
| None of the above conditions are met | B |
| A |
 | INSPECT CAN COMMUNICATION SYSTEM |
|
| 2. | PERFORM CALIBRATION |
(a) Operate the GTS to perform "Calibration".
Click here
| Tester Display |
|---|
| Calibration |
|
| 3. | CLEAR DTC |
(a) Operate the GTS to clear the codes.
Chassis > Brake > Clear DTCs(b) Press the DTC clear button.
(c) Turn the ignition switch off.
|
| 4. | RECONFIRM DTC |
(a) Operate the GTS to read the DTCs.
Chassis > Brake > Trouble Codes(b) Check if the same DTC is output.
| Result | Proceed to |
|---|---|
| C051D54 and C121054 are not output | A |
| C051D54 or C121054 is output | B |
| A |
 | END |
|
| 5. | CHECK AIRBAG SENSOR ASSEMBLY INSTALLATION |
(a) Check that the yaw rate and acceleration sensor (airbag sensor assembly) has been installed properly.
Click here
OK:
The yaw rate and acceleration sensor (airbag sensor assembly) is tightened to the specified torque.
The yaw rate and acceleration sensor (airbag sensor assembly) is not installed in a tilted position.
| NG |
 | INSTALL AIRBAG SENSOR ASSEMBLY CORRECTLY |
|
| 6. | READ VALUE USING GTS (YAW RATE SENSOR VALUE) |
(a) Operate the GTS to check the Data List.
Chassis > Brake > Data List| Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
|---|---|---|---|---|
| Yaw Rate Sensor Value | Yaw rate sensor | Min.: -128°/s Max.: 127°/s | Vehicle stopped: 0°/s Turning right: -128 to 0°/s Turning left: 0 to 127°/s | - |
| Tester Display |
|---|
| Yaw Rate Sensor Value |
(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.
OK:
The yaw rate sensor value is normal.
| NG |
 | REPLACE AIRBAG SENSOR ASSEMBLY |
|
| 7. | READ VALUE USING GTS (LATERAL G) |
(a) Operate the GTS to check the Data List.
Chassis > Brake > Data List| Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
|---|---|---|---|---|
| Lateral G | Lateral G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | Turning right: -25.105 to 0.000 m/s2 Turning left: 0.000 to 24.908 m/s2 | During turning: Changes in proportion with lateral acceleration |
| Tester Display |
|---|
| Lateral G |
(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.
OK:
The lateral G value is normal.
| NG |
 | REPLACE AIRBAG SENSOR ASSEMBLY |
|
| 8. | READ VALUE USING GTS (FORWARD AND REARWARD G) |
(a) Operate the GTS to check the Data List.
Chassis > Brake > Data List| Tester Display | Measurement Item | Range | Normal Condition | Diagnostic Note |
|---|---|---|---|---|
| Forward and Rearward G | Forward and Rearward G | Min.: -25.105 m/s2 Max.: 24.908 m/s2 | During deceleration:-25.105 to 0.000 m/s2 During acceleration: 0.000 to 24.908 m/s2 | During acceleration/deceleration: Changes in proportion with acceleration |
| Tester Display |
|---|
| Forward and Rearward G |
(b) Check the yaw rate and acceleration sensor (airbag sensor assembly) output value displayed on the GTS.
OK:
The forward and rearward G value is normal.
| OK |
 | REPLACE BRAKE ACTUATOR ASSEMBLY |
| NG |
 | REPLACE AIRBAG SENSOR ASSEMBLY |
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Liftgate/Trunk Lid
WARNING
Never allow a person to ride in the luggage compartment/trunk
Allowing a person to ride in the luggage compartment/trunk is dangerous. The person in the luggage compartment/trunk could be seriously injured or killed during sudden braking or a collision.
Do not drive with the liftgate/trunk lid open
