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Variable Gear Ratio Steering System: Calibration

NOTE: Use this procedure to center the steering wheel if:
  • The steering actuator (power steering gear assembly) has been replaced.
  • The steering control ECU has been replaced.
  • The steering column or steering intermediate shaft has been disconnected.
  • The steering wheel is still off-center after completing the steering angle sensor initialization.
  1. VGRS SYSTEM CALIBRATION PROCEDURE (USING SST CHECK WIRE) 
    1. FACE TIRES STRAIGHT AHEAD 
      NOTE: Drive the vehicle to confirm that the steering wheel is centered.
    2. CHECK DTC 
      1. Check for DTCs (see DTC CHECK / CLEAR  ).

        Result 

        RESULT CHART

        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 

    3. 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.
          Fig 1: Identifying DLC3 Connector Terminals
          G04944114Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        5. Connect SST to terminal 13 (TC) of the DLC3.

          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.
    4. FACE TIRES STRAIGHT AHEAD 
      1. 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 CHART

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

      B: Go to step  8

      A: Go to next step 

    5. 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 4 (LV) to the positive (+) battery terminal and another jumper wire from terminal 10 (LG) to the negative (-) battery terminal.
        NOTE: Do not apply voltage for more than 3 minutes.
        Fig 2: Identifying X2 Steering Actuator Connector
        G04950172Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    6. 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 (see INSTALLATION ).
    7. 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.
    8. 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 3: Identifying DLC3 Connector Terminals
        G04944107Courtesy 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.
    9. 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.
    10. CHECK STEERING WHEEL OPERATION 
      1. Start the engine.
      2. Perform the steering angle sensor initialization (see 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 

  2. VGRS SYSTEM CALIBRATION PROCEDURE (USING 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 Techstream to the DLC3.
      2. Turn the engine switch on (IG).
      3. Turn the tester on.
      4. Enter the following menus: 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 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 (see 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 

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