Part 3
41. STEERING ANGLE SENSOR INITIALIZATION (to obtain a tire angle (during straight-ahead driving) signal)
a. Turn the engine switch on (IG), and check that the master warning light illuminates for a few seconds.
NOTE: If the warning light remains on or blinks, repair the applicable system.
b. Drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or longer.
HINT:
- At this point, the steering wheel will still remain off-center by 5 to 10°.
- In this step, the neutral position of the steering wheel is restored from the steering control ECU memory.
c. Confirm that steering angle sensor initialization is completed (using the tester).
1. Intelligent tester - Enter the VGRS menu using the tester. Select "STRAIGH ANG FLG" from "DATA LIST". Check if the steering angle sensor has obtained a tire angle (during straight-ahead driving) signal.
Standard: "VALID" is displayed on the tester screen.
2. Techstream - Enter the VGRS menu using the tester. Select "Straight Angle Valid Flag" from "Data List". Check if the steering angle sensor has obtained a tire angle (during straight-ahead driving) signal.
Standard: "Valid" is displayed on the tester screen.
d. Confirm that steering angle sensor initialization is completed (not using the tester).
1. Stop the vehicle (engine running).
2. Slowly turn the steering wheel from lock to lock.
3. If it turns approximately 2.7 turns, steering angle sensor initialization is completed. If it turns approximately 3.2 turns, steering angle sensor initialization is not completed.
NOTE: If the steering wheel turns approximately 3.2 turns, drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or longer. Then confirm the initialization again.
42. VGRS SYSTEM CALIBRATION PROCEDURE (USING SST CHECK WIRE)
43. VGRS SYSTEM CALIBRATION PROCEDURE (USING INTELLIGENT TESTER)
44. VGRS SYSTEM CALIBRATION PROCEDURE (USING TECHSTREAM)
45. ROTATION ANGLE SENSOR VALUE INITIALIZATION AND TORQUE SENSOR ZERO POINT CALIBRATION
NOTE: Clear the rotation angle sensor calibration value, initialize the rotation angle sensor value, and calibrate the torque sensor zero point if any of the following has occurred:
- The power steering ECU has been replaced.
- The power steering gear assembly has been replaced.
- Steering effort differs between left and right.
a. Inspection before calibration.
1. Connect the intelligent tester (with CAN VIM) or Techstream to the DLC3.
2. Turn the engine switch on (IG).
3. Turn the intelligent tester or Techstream on.
4. Select "IG SUPPLY" from the data list.
5. Check the IG power supply voltage on the tester screen.
1. Intelligent tester
EMPS:
2. Techstream
Standard voltage: 11 to 14 V
NOTE: If the IG power supply voltage is 11 V or less, calibration cannot be performed. In this case, charge or replace the battery, and then perform calibration.
b. Clearing rotation angle sensor calibration value, rotation angle sensor value 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 DTC before starting calibration.
- If DTC C1526 (Motor Rotation Angle Sensor Initialization Incomplete) is stored, the rotation angle sensor value cannot be initialized. Clear the DTC before starting initialization.
1. Connect the intelligent tester (with CAN VIM) or Techstream to the DLC3.
2. Turn the engine switch on (IG).
3. Turn the intelligent tester or Techstream on.
4. Select "TRQ SENSOR ADJ".
5. Follow the procedures on the tester display to clear the rotation angle sensor calibration value, initialize the rotation angle sensor value, and calibrate the torque sensor zero point.
NOTE:
- When initializing the rotation angle sensor value, observe the following to stabilize sensor voltage:
After turning the engine switch on (IG), wait for at least 2.5 seconds before turning the steering wheel. Do not turn the steering wheel quickly.
- The steering wheel will vibrate during torque sensor zero point calibration. Do not touch the steering wheel while it is vibrating or for 2 seconds after it stops.
46. ZERO POINT CALIBRATION
NOTE: Make sure that the front passenger seat is not occupied before performing the operation.
HINT: Perform zero point calibration if any of the following conditions is met:
- The occupant classification ECU is replaced.
- The passenger airbag ON/OFF indicator indicates OFF when the front passenger seat is not occupied.
- The vehicle is brought to the workshop for repair due to an accident or a collision.
a. Zero point calibration procedures
1. Check that all of the following conditions are met:
- The vehicle is parked on a level surface.
- No objects are placed on the front passenger seat.
- The front passenger seat belt buckle switch is OFF.
2. Adjust the seat position according to the table.
3. Connect the intelligent tester (with CAN VIM) or Techstream to the DLC3.
4. Turn the engine switch on (IG).
5. Perform zero point calibration by given the prompts on the tester screen.
HINT:
- Refer to the intelligent tester or Techstream operator's manual for further details.
- If the zero point calibration is performed when the calibration conditions are not satisfied, DTC B1797 is output.
- If the zero point calibration has failed, DTC B1797 is output.
- If After Exchange is selected before the previous ECU data are stored in the intelligent tester or Techstream, the display screen returns to CONDITION SELECT ECU: Occupant Detect.
47. SENSITIVITY CHECK
a. Sensitivity check procedures
1. Turn the engine switch off.
2. Place a weight of 20 kg (44.0 lb) on the front passenger seat.
NOTE:
- Do not allow the weight to come into contact with the seatback when placing it on the seat cushion.
- Place the weight in the area shown in the illustration.
3. Turn the engine switch on (IG), and wait for at least 6 seconds.
4. Check that the passenger airbag ON/OFF indicator indicates OFF.
OK: Passenger airbag ON/OFF indicator indicates OFF.
5. Add a weight of 30 kg (66.1 lb) to the front passenger seat (total 50 kg (110.2 lb)).
NOTE:
- Do not allow the weight to come into contact with the seatback when placing it on the seat cushion.
- Place the weight in the area shown in the illustration.
6. Check that the passenger airbag ON/OFF indicator indicates ON. OK: Passenger airbag ON/OFF indicator indicates ON.
48. REGISTRATION
NOTE:
- If any DTCs related to the occupant classification ECU are output, troubleshoot those DTCs by referring to the DIAGNOSTIC TROUBLE CODE CHART.
- When ECU data saving or loading operations cannot be performed, replace the front seat cushion (with occupant classification ECU and occupant detection sensor).
HINT:
- When the occupant classification ECU is replaced, the previous ECU data must be saved in the intelligent tester or Techstream and loaded into the new ECU by given the flowchart.
- Until the data from the previous ECU are loaded into the new occupant classification ECU, these data are not erased even when the tester is turned off.
- ECU EXCHANGE procedure (Before Exchange) describes the procedure to save the data in the intelligent tester or Techstream from the occupant classification ECU which was installed on the vehicle. ECU EXCHANGE procedure (After Exchange) describes the procedure to load the data from the previous ECU, stored in the intelligent tester or Techstream, into the new ECU.
a. Connect the intelligent tester (with CAN VIM) or Techstream to the DLC3.
b. Turn the engine switch on (IG).
c. Store the occupant classification ECU data in the intelligent tester or Techstream by following the prompts on the tester screen.
HINT: If the ECU data cannot be stored in the intelligent tester or Techstream, replace the front seat cushion (with occupant classification ECU and occupant detection sensor).
d. Turn the engine switch on (IG).
e. Disconnect the negative (-) terminal cable from the battery, and wait for at least 90 seconds.
f. Replace the occupant classification ECU.
g. Connect the negative (-) terminal cable to the battery.
h. Turn the engine switch on (IG).
i. Load the data from the previous ECU stored in the tester into the newly installed ECU by following the prompts on the tester screen.
j. Turn the engine switch off.
k. Turn the engine switch on (IG).
l. Clear the DTCs stored in the memory.
HINT: If DTCs are not cleared at this time, past DTCs will remain.
49. DESCRIPTION OF CODE REGISTRATION
HINT:
- The engine immobilizer function's ID code is the same as recognition codes for the smart access system with push-button start and the wireless transmitter. Registering an ID code enables the smart access with push-button start, the wireless door lock control function and the engine immobilizer function to be operated.
- Code registration is needed when the certification ECU, ID code box, steering lock ECU, ECM or key is replaced with a new one.
- This vehicle does not have a key slot. Therefore, touch the logo of the key to the engine switch to register the key, as shown in the illustration.
Part 1:
Part 2:
50. PART REPLACEMENT AND KEY REGISTRATION PROCEDURES
a. If a malfunctioning ECU is discovered through troubleshooting of the smart access system with push-button start, use the ECU replacement and key registration procedures in the table.
HINT:
- The following procedures require the use of the intelligent tester or Techstream:
- New key ID registration
- Additional key ID registration
- Key ID erasure
- ECU code registration
- If all of the registered keys are not available, replacement of the ID code box certification ECU and steering lock ECU are also required.
- A maximum of 7 keys can be registered.
51. KEY REGISTRATION PROCEDURES
a. New key ID registration (when replacing certification ECU and ID code box, or certification ECU, ID code box and steering lock ECU)
HINT: *: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from process 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.
b. New key ID registration (when replacing certification ECU)
HINT:
- *1: Repeat this process for each key registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from process 1 again. If performing the key confirmation procedure for a key, the security indicator comes on and remains on until all the keys are confirmed.
- *2: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.
c. Additional key ID registration
HINT:
- *1: Perform this process for one of the keys registered for the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform registration procedures from process 1 again.
- *2: Repeat this process for each key which is to be registered for the vehicle. Finish the procedure for each key within 30 seconds. If the procedure for any of the keys has not been finished within the specified time, perform registration procedures from 1 again. Make sure that only 1 key is in the cabin during registration procedures. If 2 or more keys are in the cabin simultaneously, electric waves will interfere with each other, preventing normal registration.
d. Key ID erasure (Erase all registered key codes except one)
HINT: *: Perform this process for one of the keys registered for the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform erasure procedures from process 1 again.
e. All keys ID erasure
f. ECU code registration
HINT: *: Perform this process for one of the keys registered to the vehicle. Finish the procedure within 30 seconds. If the procedure has not been finished within the specified time, perform registration procedures from process 1 again.
g. ECU communication ID registration
NOTE:
- The ECU communication ID should be registered when the ID code box is replaced in order to match the ECU communication ID.
- The engine cannot be started unless ECU communication ID is registered.
- After the registration, pressing the engine switch may not start the engine on the first try. If so, press the engine switch again.
- After the engine is started, erase DTC B2799 (code for ECM's immobilizer communication error) using either of the following methods:
- Use the intelligent tester or Techstream.
- Disconnect the battery for 30 seconds.
1. Using SST, connect terminal 13 (TC) and 4 (CG) of the DLC3. SST 09843-18040
2. Turn the engine switch on (IG) (do not start the engine) and leave it as is for 30 minutes.
3. Turn the engine switch off and disconnect terminals 13 (TC) and 4 (CG).
4. Check that the engine starts for more than 3 seconds.
h. ECU communication ID reregistration
NOTE: The ECU communication ID should be registered when the ECM is replaced in order to match the ECU communication ID.
52. ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY
CAUTION: Exposure to radio frequency emissions is hazardous to your health. It is hazardous to your health to be within 20 cm (7.9 in.) of the device's radio frequency aperture.
NOTE:
- This device complies with FCC radio frequency emission regulations.
- Perform measurements on a level surface.
- Make sure that no large pieces of metal are within a 10 m (32.81 ft.) x 14 m (45.93 ft.) area in front of the vehicle. If possible, the surrounding area should also be free of large metal objects.
a. Before adjusting the radar beam axis, prepare the vehicle as follows.
1. Check the tire pressure and adjust it if necessary.
2. Remove all excess weight from the vehicle (luggage, heavy objects, etc.).
b. w/ Air suspension:
Adjust the vehicle's height to the standard height.
c. Check and adjust the vertical direction of the radar sensor.
1. Remove dust, oil and foreign matter from the radar sensor's level rack.
2. Set a level on the radar sensor's level rack.
3. Check that the level's air bubble is within the red frame.
OK: Level's air bubble is within red frame. If the bubble is not within the red frame, use a hexagon wrench to adjust bolt A until the air bubble is within the red frame.
HINT:
- The adjustable range within the level's red frame is ± 0.2°
- The target angle is +0.2° (upward angle of 0.2°). Result
d. Adjust the reflector height.
1. Adjust the reflector so that the center of the SST reflector is the same height as the millimeter wave radar sensor.
SST 09870-60000
HINT: Prepare a 10 m (32.81 ft.) string, a string with a sharp-pointed weight (plumb bob), and a 5 m (16.41 ft.) tape measure.
e. Place the reflector.
1. Hang the string (with weight) from the center of the vehicle rear's emblem. Mark the vehicle rear's center point on the ground. Repeat for the front of the vehicle.
2. Set one end of the 10 m (32.82 ft.) string on the vehicle rear's center point. Run the string over the vehicle front's center point to a position 5 m (16.41 ft.) beyond the vehicle front's center point, as shown in the illustration. Mark the 5 m (16.41 ft.) position.
3. Using a tape measure, measure 12 mm (0.47 in.) to the left of the 5 m (16.41 ft.) position. Place the reflector at that position.
NOTE: Perform the operation as precisely as possible.
f. Check the radar beam axis.
1. When using intelligent tester:
1. Connect the intelligent tester to the DLC3.
2. Turn the engine switch on (IG).
3. Turn the intelligent tester main switch ON, and turn the cruise control main switch ON.
4. Follow the instructions on the screen menu. Select "Radar Cruise", then select "BEAM AXIS ADJ", and press "Enter".
5. Press "ENTER".
6. Press "ENTER".
7. Press "ENTER".
8. After the CRUISE main indicator light illuminates, press "ENTER".
HINT: A buzzer will sound for 1 second.
2. When using Techstream:
1. Connect Techstream to the DLC3.
2. Turn the engine switch on (IG).
3. Turn the Techstream main switch ON, and turn the cruise control main switch ON.
4. Select "Connect to Vehicle".
5. Under "Option", select "RADAR CRUISE".
6. Select either "w/o LKA System" or "w/ LKA System".
7. Under "System Selection Menu", select "Powertrain".
8. Select "Radar Cruise".
HINT: A buzzer will sound for 1 seconds.
9. Follow the tester display, and continue with the adjustment.
3. Check the following items on the laser cruise divergence data screen.
NOTE: While using the intelligent tester's beam axis adjustment mode, the actual direction and angle of the radar sensor may be different from the intelligent tester's data. In such a case, the deviation is displayed on the combination meter's multi-information display.
1. Confirm that the distance value is approximately 5 m (16.41 ft.).
HINT:
- A value between 0.0 and 6.3 m (20.67 ft.) is indicated.
- If the distance is 0 m (0 ft.), the sensor cannot detect the target. Reconfirm that there is no metal in the specified area in front of the vehicle.
2. Confirm that the left/right side value is between 0.0 and 6.3.
HINT: If the distance is 0 m (0 ft.), the sensor cannot detect the target. Reconfirm that there is no metal in the specified area in front of the vehicle.
g. Check and adjust the horizontal direction of the radar sensor.
1. Check that the divergence of the radar beam axis is 0°.
Standard: 0° (Both right and left)
If the axis is not as specified, use a hexagon wrench to adjust bolt B until the divergence of the radar beam axis is 0°.
2. Based on the measured divergence of the beam axis, turn and adjust bolt B for horizontal adjustment of the millimeter wave radar sensor using a hexagon wrench.
HINT:
- If "LEFT SIDE: 1.0°" is displayed, the divergence is 1.0° in the left direction. Turn bolt B approximately 18.6 turns to the negative (-) side.
- If the value does not change to 0°, it is possible that the sensor is aiming at something different. Reconfirm that there are no reflective materials in the surrounding area.
3. Select "Next". The driving learning value is automatically reset.
HINT: A buzzer will sound for 10 seconds.
4. Disconnect the intelligent tester or Techstream from the DLC3.
h. Recheck and readjust the vertical direction of the radar sensor.
1. Set a level on the radar sensor's level rack.
2. Check that the level's air bubble is within the red frame.
OK: Level's air bubble is within the red frame. If the bubble is not within the red frame, use a hexagon wrench to adjust bolt A until the level's air bubble is within the red frame.
HINT:
- The adjustable range within the red frame is ± 0.2°.
- The target angle is +0.2° (upward angle of 0.2°).
53. CORRECTION OF STEERING ANGLE NEUTRAL POINT
1. If the given operations are performed "SYSTEM INITIALIZING" is displayed on the multi-display. Also, when the expected course lines not displayed the parking guidelines are displayed, pressing the parking assist mode switch and parallel parking assist mode switch causes the message "! System cannot guide under current conditions." to be displayed.
2. When "SYSTEM INITIALIZING" is displayed, correct the steering angle neutral point using either of the following methods.
a. Fully turn the steering wheel to the right and left.
54. SYSTEM ADJUSTMENT
a. If the given operations are performed, the adjustments shown are required.
HINT: If the parking assist ECU is replaced, screen noise adjustment is automatically performed when steering angle setting and camera position setting are performed.
55. PREPARATION FOR ADJUSTMENT
HINT: Only when adjusting the optical axis of the camera, set the target bar for adjustment.
a. Park the vehicle with its wheels facing straight ahead and the steering wheel centered.
b. Set the target bar for adjustment.
HINT:
- Adjust the tire pressure to the specification.
- The target bar for adjustment is a piece of tape attached to the floor. Check the color on the screen and choose a tape color which can be easily seen.
- Before parking the vehicle, move the vehicle back and forth to check that the wheels are facing straight ahead and that the steering wheel is centered.
56. BOOT DIAGNOSIS MODE
a. Start the engine.
b. Start the diagnostic system.
c. Select "Camera Check" on the Diagnosis Menu.
57. SET VEHICLE HEIGHT
a. At the "SIGNAL CHECK" screen, press "HT INIT" to display the "HEIGHT SET" screen.
HINT:
- Before performing the camera position setting, the vehicle height setting must be performed in the "HEIGHT SET" screen.
- If the vehicle height setting is not completed, the "HT INIT" display will change to "CHECKING".
b. Measure the distance A between the ground and television camera in the illustration.
c. Calculate the difference between the distance A and the standard height below.
Standard: 944 mm (37.2 in.)
d. Press "UP" and "DOWN" to input the calculated difference.
e. After inputting the calculated difference, press "OK". The vehicle height setting will be recorded.
HINT:
- Press "OK" with the vehicle in the same condition as when the vehicle height was measured.
- If a person was in the driver's seat when the vehicle height was measured, press "OK" with the same person in the driver's seat.
- On the "SIGNAL CHECK" screen, check that the "HT INIT" display is "INPUT OK".
58. SET PARALLEL PARKING OFFSET
a. Select "PARALLEL OFFSET" on the SIGNAL CHECK menu.
b. Perform the parallel parking offset.
1. Press the UP or DOWN switches to adjust.
59. SET VOLUME
a. Select "VOLUME" on the SIGNAL CHECK menu.
b. Select the volume level on the VOLUME menu.
60. SET CAMERA POSITION SETTING
a. Select the "NEXT" button on the SIGNAL MENU screen.
b. Perform the roll angle adjustment.
1. Press the directional switches to rotate the target adjustment bares.
c. Perform the vertical and horizontal position adjustment.
1. Press the directional switches to move the target adjustment boxes.