Inspection Procedure

When replacing the brake actuator assembly, perform zero point calibration.
Before proceeding with the inspection, explain to the customer that the output DTC is related to temporary loss of the steering angle zero point calibration, such as when the power voltage drops when the battery is removed, and confirm that this condition occurred.
NOTE:
- When DTC U0073/94, U0123/62, U0124/95 and/or U0126/63 is output together with DTC C1439/66 and/or C1445/66, inspect and repair the trouble areas indicated by DTC U0073/94, U0123/62, U0124/95 and/or U0126/63 first.
- When the speed sensor or the yaw rate and deceleration sensor has trouble, DTCs for the steering angle sensor may be output even when the steering angle sensor is normal. When DTCs for the speed sensor or yaw rate and deceleration sensor are output together with other DTCs for the steering angle sensor, inspect and repair the speed sensor and yaw rate and deceleration sensor first, and then inspect and repair the steering angle sensor.

CHECK FOR DTC

Clear the DTCs.
Turn the ignition switch off.
Turn the ignition switch to the ON position again and check that no CAN communication system DTCs are output.
Drive the vehicle and turn the steering wheel to the right and left at a speed of 35 km/h (22 mph) and check that no speed sensor and yaw rate and deceleration sensor DTCs are output.

Result

Result	Proceed to
DTCs (C1439/66 and/or C1445/66) are output	A
CAN communication system DTC is output	B
Speed sensor and/or yaw rate and deceleration sensor DTC is output	C
DTCs (C1439/66 and C1445/66) are not output	D

NOTE:

If there is a malfunction in the speed sensor or the yaw rate and deceleration sensor, an abnormal value may be output although the steering angle sensor is normal.
If the speed sensor and the yaw rate and deceleration sensor DTCs are output simultaneously, repair the sensors and inspect the steering angle sensor.
If the same DTC C1439/66 and/or C1445/66 is not output again, the DTC may have been stored due to a temporary loss of the steering angle zero calibration, such as when the power voltage drops.

B: INSPECT CAN COMMUNICATION SYSTEM

C: REPAIR CIRCUITS INDICATED BY OUTPUT DTCS

D: CHECK FOR INTERMITTENT PROBLEMS

CHECK STEERING ANGLE SENSOR ZERO POINT CALIBRATION
1. Drive the vehicle straight ahead at 35 km/h (22 mph) or more for at least 5 seconds.
2. Check that the centered position of the steering wheel is correctly set while driving straight ahead.
  NOTE: If front wheel alignment and steering position are adjusted as a result of an off-centered position of the steering wheel, acquire yaw rate and deceleration sensor zero point again after the adjustments are completed.
  
  OK:
  
  The centered position of the steering wheel is correctly set.
  
  NG:
  
  ADJUST FRONT WHEEL ALIGNMENT OR STEERING POSITION
  
  OK:

RECONFIRM DTC

Turn the ignition switch off.
Clear the DTCs.
Start the engine.
Drive the vehicle and turn the steering wheel to the right and left at the speed of 35 km/h (22 mph) or more.
Check if the same DTC is output.

Result

Result	Proceed to
DTCs (C1439/66 and/or C1445/66) are output	A
DTCs (C1439/66 and C1445/66) are not output	B

NOTE: If the same DTC C1439/66 and/or C1445/66 is not output again, the DTC may have been stored due to a temporary loss of the steering angle zero calibration, such as when the power voltage drops.

B: END

A: REPLACE BRAKE ACTUATOR ASSEMBLY