Inspection Procedure

1. Perform the zero point calibration of the yaw rate sensor and deceleration sensor (see CALIBRATION  ).

1. Turn the ignition switch ON.
2. Check that the ABS warning light turns on.
3. Check for DTC (see DTC CHECK / CLEAR  ).

   Result 

   RESULT CHART
   
   

   Result	Proceed to
   DTC is output (when using Techstream)	A
   DTC is not output (when not using Techstream)	B
   DTC is not output	C

B: Go to step  4

C: END 

A: Go to Next Step 

1. Check the Data List for proper functioning of the yaw rate sensor.

   ABS/VSC/TRAC 

   DIAGNOSTIC NOTE CHART
   
   

   Tester Display	Measurement Item / Range	Normal Condition	Diagnostic Note
   Yaw Rate Sensor	Yaw rate sensor / min.: -128 deg/ s, max.: 127deg/s	Min.: -128 deg/s Max.: 127 deg/s	-
   Zero Yaw Rate Sensor	Memorized zero value / min.: -128 deg/s, max.: 127 deg/s	Min.: -128 deg/s Max.: 127 deg/s	-

   OK: Yaw rate value must be changing. 

   (Reference) Yaw rate sensor stationary output value: +- 4 deg/s 

OK: REPLACE SKID CONTROL ECU 

NG: Go to Next Step 

Fig 1: Identifying Yaw Rate And Acceleration Sensor (YAW2, YD Voltage)

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Remove the yaw rate sensor but do not disconnect the connector.
2. Turn the ignition switch ON.
3. Measure the voltage of the connector.

   Standard voltage 

   TESTER CONNECTION SPECIFIED CONDITION CHART
   
   

   Tester Connection	Specified Condition
   1 (YAW2) - 5 (GYAW)	2.42 to 2.58 V
   6 (YD) - 5 (GYAW)	4.5 to 5.3 V

NG: REPLACE YAW RATE SENSOR 

OK: Go to Next Step 

Fig 2: Identifying Skid Control ECU (YD Voltage)

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Remove the skid control ECU but do not disconnect the connectors.
2. Turn the ignition switch ON.
3. Measure the voltage of the connectors.

   Standard voltage 

   TESTER CONNECTION SPECIFIED CONDITION CHART
   
   

   Tester Connection	Specified Condition
   S6-19 (YD) - S5-16 (GND4)	4.5 to 5.3 V
   S6-19 (YD) - S5-22 (GND3)	4.5 to 5.3 V
   S6-19 (YD) - S8-6 (GND2)	4.5 to 5.3 V
   S6-19 (YD) - S8-31 (GND1)	4.5 to 5.3 V

NG: REPLACE SKID CONTROL ECU 

OK: Go to Next Step 

Fig 3: Identifying Wire Harness (Skid Control ECU - Yaw Rate Sensor)

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Disconnect the S6 ECU connector.
2. Disconnect the Y1 sensor connector.
3. Measure the resistance of the wire harness side connectors.

   Standard resistance 

   TESTER CONNECTION SPECIFIED CONDITION CHART
   
   

   Tester Connection	Specified Condition
   S6-19 (YD) - Y1-6 (YD)	Below 1 Ω
   S6-21 (GGND) - Y1-5 (GYAW)	Below 1 Ω
   S6-28 (YAW) - Y1-1 (YAW2)	Below 1 Ω

NG: REPAIR OR REPLACE HARNESS AND CONNECTOR 

OK: REPLACE SKID CONTROL ECU