Toyota Corolla Cross Owners & Service Manuals

Toyota Corolla Cross: Multi-axis Acceleration Sensor Module "A" Missing Calibration (C051D54,C121054)

DESCRIPTION

The airbag ECU 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 ECU assembly) via CAN communication.

The DTC is also stored when the calibration has not been completed.

DTC No.

Detection Item

DTC Detection Condition

Trouble Area

MIL

DTC Output from

Note

C051D54

Multi-axis Acceleration Sensor Module "A" Missing Calibration

Zero point calibration of acceleration sensor undone.

  • Acceleration sensor (airbag ECU assembly) installation
  • Acceleration sensor (airbag ECU assembly)
  • Skid control ECU (brake actuator assembly)

Does not come on

Brake/EPB

Output ECU: Skid control ECU (brake actuator assembly)

C121054

Yaw Rate Sensor Missing Calibration

Zero point calibration of yaw rate sensor undone.

  • Yaw rate sensor (airbag ECU assembly) installation
  • Yaw rate sensor (airbag ECU assembly)
  • Skid control ECU (brake actuator assembly)

Does not come on

Brake/EPB

Output ECU: Skid control ECU (brake actuator assembly)

CAUTION / NOTICE / HINT

NOTICE:

If there is a malfunction in the bus lines between the yaw rate and acceleration sensor (airbag ECU assembly) and the CAN communication system, DTCs U012587 and U015187 are output. When DTCs U012587 and U015187 are output together with C051D54 and/or C121054, inspect and repair the trouble areas indicated by U012587 and U015187 first.

PROCEDURE

1.

PERFORM YAW RATE AND ACCELERATION SENSOR ZERO POINT CALIBRATION

(a) Clear the zero point calibration data.

Chassis > Brake/EPB > Utility

Tester Display

Reset Memory

(b) Perform yaw rate and acceleration sensor zero point calibration.

Chassis > Brake/EPB > Utility

Tester Display

Calibration

NEXT

2.

CLEAR DTC

(a) Clear the DTCs.

Chassis > Brake/EPB > Clear DTCs

(b) Turn the ignition switch off.

NEXT

3.

RECONFIRM DTC

(a) Based on the Freeze Frame Data and interview with the customer, attempt to reproduce the conditions when the malfunction occurred.

(b) Check if the same DTC is output.

Chassis > Brake/EPB > Trouble Codes

Result

Proceed to

C051D54 and C121054 are not output

A

C051D54 or C121054 is output

B

A

END

B

4.

CHECK AIRBAG ECU ASSEMBLY INSTALLATION

(a) Check that the yaw rate and acceleration sensor (airbag ECU assembly) has been installed properly.

Click here

OK:

The yaw rate and acceleration sensor (airbag ECU assembly) is tightened to the specified torque.

The yaw rate and acceleration sensor (airbag ECU assembly) is not installed in a tilted position.

NG

INSTALL AIRBAG ECU ASSEMBLY CORRECTLY

OK

5.

READ VALUE USING GTS (LATERAL G, FORWARD AND REARWARD G AND YAW RATE SENSOR VALUE)

(a) Check the Data List using the GTS.

Chassis > Brake/EPB > 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

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

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

-

Chassis > Brake/EPB > Data List

Tester Display

Lateral G

Forward and Rearward G

Yaw Rate Sensor Value

(b) Check the yaw rate and acceleration sensor (airbag ECU assembly) output value displayed on the GTS.

OK:

The yaw rate and acceleration sensor (airbag ECU assembly) output value is normal.

OK

REPLACE BRAKE ACTUATOR ASSEMBLY

NG

REPLACE AIRBAG ECU ASSEMBLY

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