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Calibration [04/2013 - 09/2020]

  1. ROTATION ANGLE SENSOR INITIALIZATION AND TORQUE SENSOR ZERO POINT CALIBRATION (USING TECHSTREAM) 
    NOTE:

    Perform rotation angle sensor initialization and torque sensor zero point calibration if any of the following conditions occur:

    • The power steering ECU assembly has been replaced.
    • The power steering link assembly has been replaced.
    • There is a difference in steering effort between turning left and right.
    1. Perform inspection before calibration.
      1. Turn the engine switch off.
      2. Connect the Techstream to the DLC3.
      3. Turn the engine switch on (IG).
      4. Turn the Techstream on.
      5. Calibrate the power steering ECU assembly. Enter the following menus: Chassis / EMPS / Data List.
      6. Check the values by referring to the table below.

        Chassis > EMPS > Data List 

        Tester Display Measurement Item Range Normal Condition Diagnostic Note
        IG Power Supply IG power source voltage Min.: 0.0000 V
        Max.: 20.1531 V        		 8 to 16 V Engine switch on (IG)

        Chassis > EMPS > Data List 

        Tester Display
        IG Power Supply

        Standard Voltage

        8 to 16 V

        NOTE:

        If the IG power supply voltage is 8 V or less, calibration cannot be performed. In this case, charge or replace the battery, and then perform calibration.

    2. Perform rotation angle sensor 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 DTCs before starting calibration.
      • If DTC C1526 (Rotation Angle Sensor Initialization Incomplete) is stored, the rotation angle sensor cannot be initialized. Clear the DTCs before starting initialization.
      1. Set the steering wheel to the center point and align the front wheels straight ahead.
      2. Turn the engine switch off.
      3. Connect the Techstream to the DLC3.
      4. Turn the engine switch on (IG).
      5. Turn the Techstream on.
      6. Enter the following menus: Chassis / EMPS / Utility / Torque Sensor Adjustment.

        Chassis > EMPS > Utility 

        Tester Display
        Torque Sensor Adjustment
        NOTE:
        • Do not turn the steering wheel sharply.
        • Do not touch the steering wheel during torque sensor zero point calibration (for 3 seconds).
      7. Check for DTCs.

        Refer to DTC CHECK / CLEAR [04/2013 - 10/2016] , or refer to DTC CHECK / CLEAR [10/2016 - 09/2020] 

        Chassis > EMPS > Trouble Codes 

        NOTE:

        If DTC C1515, C1516, C1525, C1526, C1534 or C1581 is output, perform troubleshooting for the corresponding DTC.

        Result

        Result See Procedure
        DTC C1515 is output. Refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [04/2013 - 10/2016] , or refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [10/2016 - ]
        DTC C1516 is output. Refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [04/2013 - 10/2016] , or refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [10/2016 - ]
        DTC C1525 is output. Refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [04/2013 - 10/2016] , or refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [10/2016 - ]
        DTC C1526 is output. Refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [04/2013 - 10/2016] , or refer to DTC C1515: Torque Sensor Zero Point Adjustment Undone; DTC C1516: Torque Sensor Zero Point Adjustment Incomplete; DTC C1525: Rotation Angle Sensor Initialization Undone; DTC C1526: Rotation Angle Sensor Initialization Incomplete [10/2016 - ]
        DTC C1534 is output. Refer to DTC C1521: Short in Motor Circuit; DTC C1522: Power Supply Sensor; DTC C1523: Current Deviation Excessive; DTC C1524: Motor Terminal Voltage; DTC C1532: ECU Malfunction [04/2013 - 10/2016] , or refer to DTC C1521: Short in Motor Circuit; DTC C1522: Power Supply Sensor; DTC C1523: Current Deviation Excessive; DTC C1524: Motor Terminal Voltage; DTC C1532: ECU Malfunction [10/2016 - ]
        DTC C1581 is output. Refer to DTC C1581: Assist Map Number Un-Writing [04/2013 - 08/2015] , or refer to DTC C1581: Assist Map Number Un-Writing [08/2015 - 10/2016] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2016 - 10/2017] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2017 - 11/2021]
  2. ROTATION ANGLE SENSOR INITIALIZATION AND TORQUE SENSOR ZERO POINT CALIBRATION (USING SST CHECK WIRE) 
    NOTE:

    Perform rotation angle sensor initialization and torque sensor zero point calibration if any of the following conditions occur:

    • The power steering ECU assembly has been replaced.
    • The power steering link assembly has been replaced.
    • There is a difference in steering effort between turning left and right.
    1. Check for DTCs.
      1. Check for DTCs.

        Refer to DTC CHECK / CLEAR [04/2013 - 10/2016] , or refer to DTC CHECK / CLEAR [10/2016 - 09/2020] 

        NOTE:
    2. Perform pre-calibration check.
      1. Turn the engine switch off.
      2. Disconnect the A19 power steering ECU assembly connector.
      3. Turn the engine switch on (IG).
      4. Measure the voltage according to the value(s) in the table below.
        Fig 1: Power Steering ECU Assembly Connector End View A19
        GTY465132Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Front view of wire harness connector
        (to Power Steering ECU Assembly)

        Standard Voltage

        Tester Connection Condition Specified Condition
        A19-14 (IG) - Body ground Engine switch on (IG) 8 to 16 V
        NOTE:

        If the IG power supply voltage is 8 V or less, calibration cannot be performed. In this case, charge or replace the battery, and then perform calibration.

      5. Turn the engine switch off.
      6. Reconnect the A19 power steering ECU assembly connector.
    3. Clear sensor calibration value.
      1. Set the steering wheel to the center point and align the front wheels straight ahead.
      2. Turn the engine switch off.
      3. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
        Fig 2: DLC3 Terminals 4 (CG), 12 (TS), 13 (TC) Connector End View
        GTY452259Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a DLC3
        • SST: 09843-18040 
        NOTE:

        Connect the terminals to the correct positions to avoid a malfunction.

      4. Turn the engine switch on (IG) and then connect and disconnect terminals 13 (TC) and 4 (CG) at least 20 times in 20 seconds.
      5. Check that the EPS warning light blinks and then remains illuminated.
        Fig 3: EPS Warning Light
        GTY445198Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a EPS Warning Light

        HINT: 

        The EPS warning light illumination indicates that DTCs C1515 and C1525 have been stored.

      6. Turn the engine switch off.
        NOTE:

        After clearing the sensor calibration value, rotation angle sensor initialization or zero point calibration cannot be performed if the engine switch is on (IG).

    4. Rotation angle sensor initialization.
      NOTE:

      As rotation angle sensor initialization cannot be performed if DTC C1525 has not been stored, be sure to clear the sensor calibration value and torque sensor zero point calibration before performing rotation angle sensor initialization.

      1. Set the steering wheel to the center point and align the front wheels straight ahead.
      2. Turn the engine switch off.
      3. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3, and then turn the engine switch on (IG).
        • SST: 09843-18040 
        Fig 4: DLC3 Terminals 4 (CG), 12 (TS) Connector End View
        GTY432346Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a DLC3
        NOTE:

        Connect the terminals properly to avoid a malfunction.

        HINT: 

        If DTC C1525 is present when test mode starts, the system automatically switches to motor rotation angle sensor output calibration mode.

      4. Turn the steering wheel 45° or more to the left and right.
        NOTE:
        • After turning the engine switch on (IG), wait 2.5 seconds or more before turning the steering wheel in order to allow the sensor voltage to stabilize.
        • Do not turn the steering wheel quickly.
    5. Perform torque sensor zero point calibration.
      NOTE:

      As torque sensor zero point calibration cannot be performed if DTC C1515 has not been stored, be sure to perform sensor calibration value erasure before performing torque sensor zero point calibration.

      1. Set the steering wheel to the center point and align the front wheels straight ahead.
      2. Turn the engine switch off.
      3. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
        Fig 5: DLC3 Terminals 4 (CG), 12 (TS), 13 (TC) Connector End View
        GTY432345Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a DLC3
        • SST: 09843-18040 
      4. Turn the engine switch on (IG) and then connect terminals 13 (TC) and 4 (CG).
        NOTE:

        Do not touch the steering wheel during calibration (for 3 seconds).

        HINT: 

        The EPS warning light remains illuminated even after calibration has completed.

  3. ASSIST MAP WRITING (USING TECHSTREAM) 
    NOTE:

    Perform assist map writing if the following condition occurs:

    The power steering ECU assembly has been replaced.

    1. Turn the engine switch off.
    2. Connect the Techstream to the DLC3.
    3. Turn the engine switch on (IG).
    4. Turn the Techstream on.
    5. Enter the following menus: Chassis / EMPS / Utility / Signal Check.

      Chassis > EMPS > Utility 

      Tester Display
      Signal Check

      HINT: 

      • Follow the instructions on the Techstream to perform Signal Check.
      • With DTC C1581 output, performing Signal Check will cause the power steering ECU assembly to enter Signal Check and the assist map will be written automatically.
    6. Wait for at least 10 seconds.
    7. Check for DTCs.

      Refer to DTC CHECK / CLEAR [04/2013 - 10/2016] , or refer to DTC CHECK / CLEAR [10/2016 - 09/2020] 

      Chassis > EMPS > Trouble Codes 

      HINT: 

      After writing the assist map, if DTC C1581 is output, perform the troubleshooting procedure for DTC C1581.

      Refer to DTC C1581: Assist Map Number Un-Writing [04/2013 - 08/2015] , or refer to DTC C1581: Assist Map Number Un-Writing [08/2015 - 10/2016] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2016 - 10/2017] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2017 - 11/2021]

  4. ASSIST MAP WRITING (USING SST CHECK WIRE) 
    NOTE:

    Perform assist map writing if the following condition occurs:

    The power steering ECU assembly has been replaced.

    HINT: 

    If DTC C1581 is output after rotation angle sensor initialization, torque sensor zero point calibration and perform assist map writing.

    1. Turn the engine switch off.
      Fig 6: DLC3 Terminals 4 (CG), 12 (TS) Connector End View
      GTY432346Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a DLC3
    2. Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
      • SST: 09843-18040 
      NOTE:

      Connect the terminals properly to avoid a malfunction.

    3. Turn the engine switch on (IG).
    4. Wait for 10 seconds or more.
    5. Check for DTCs.

      Refer to DTC CHECK / CLEAR [04/2013 - 10/2016] , or refer to DTC CHECK / CLEAR [10/2016 - 09/2020] 

      HINT: 

      After writing the assist map, if DTC C1581 is output, perform the troubleshooting procedure for DTC C1581.

      Refer to DTC C1581: Assist Map Number Un-Writing [04/2013 - 08/2015] , or refer to DTC C1581: Assist Map Number Un-Writing [08/2015 - 10/2016] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2016 - 10/2017] , or refer to DTC C1581: Assist Map Number Un-Writing [10/2017 - 11/2021]

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