Calibration [09/2012 - ]

NOTE:

Use this procedure to center the steering wheel if:

The steering actuator (power steering link 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.

VGRS SYSTEM CALIBRATION PROCEDURE (USING SST CHECK WIRE)

FACE TIRES STRAIGHT AHEAD
NOTE:
Drive the vehicle to confirm that the steering wheel is centered.

NEXT: Go to next step

CHECK DTC

Check for DTCs. Refer to DTC CHECK / CLEAR [09/2012 - ] .

Result

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

PERFORM ACTUATOR ANGLE INITIALIZATION
1. Start the engine.
  
  Fig 1: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
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.
  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.
  NEXT: Go to next step

FACE TIRES STRAIGHT AHEAD

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

B → Go to step 8

A: Go to next step

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.
  
  Fig 2: Identifying x2 Steering Actuator Connector
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
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.
  
  NEXT: Go to next step
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. Refer to INSTALLATION [09/2012 - ] .
  
  NEXT: Go to next step
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.
  NEXT: Go to next step
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.
  
  Fig 3: Identifying DLC3 Connector Terminals
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
  - 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.
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.
  NEXT: Go to next step
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.
  NEXT: Go to next step
CHECK STEERING WHEEL OPERATION
1. Start the engine.
2. Perform the steering angle sensor initialization. Refer to INITIALIZATION [09/2012 - ] .
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

VGRS SYSTEM CALIBRATION PROCEDURE (USING TECHSTREAM)
1. FACE TIRES STRAIGHT AHEAD
  NOTE:
  Drive the vehicle to confirm that the steering wheel is centered.
  
  NEXT: Go to next step
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.
    NEXT: Go to next step
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.
    NEXT: Go to next step
4. CHECK STEERING WHEEL OPERATION
  1. Start the engine.
  2. Perform the steering angle sensor initialization. Refer to INITIALIZATION [09/2012 - ] .
  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