Part 3

EMPS

Standard Voltage:

10 to 14 V

NOTICE:
If the IG power supply voltage is 9 V or less, calibration cannot be performed. In this case, charge or replace the battery, and then perform calibration.

(b) Rotation angle sensor calibration value clear, rotation angle sensor initialization, and torque sensor zero point calibration

NOTICE:
* 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 (Rotation Angle Sensor Initialization Incomplete) is stored, the rotation angle sensor cannot be initialized. Clear the DTC before starting initialization.
(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 / Torque Sensor Adjustment.

NOTICE:
* Center the steering wheel and align the front wheels straight ahead.
* Do not turn the steering wheel sharply.
* Do not touch the steering wheel during the torque sensor zero point calibration. (Wait for 3 seconds after the calibration.)
20. ADJUST PARKING ASSIST MONITOR SYSTEM (Parking Assist Monitor System)

(a) This parking assist monitor system can be set from the diagnostic screen of the multi-display.

(b) If the following operations are performed, it is necessary to perform adjustments and checks on the diagnostic screen.

HINT
The adjustment values stored while performing parking assist monitor system calibration are stored in the parking assist ECU.

21. PARKING ASSIST ECU INITIALIZATION (Parking Assist Monitor System)

HINT
Be sure to check for DTCs before performing this procedure Parking Assist Monitor System.

(a) Preparation for adjustment

(1) Park the vehicle with the steering wheel centered.

(2) Set a target bar for optical axis adjustment of the rear television camera.

HINT
Only when adjusting the optical axis of the camera, create a target bar for adjustment.

Dimension:

Text in Illustration

HINT
* Set a piece of tape on the ground as the target bar for adjustment. Its width and length are 20 to 30 mm (0.787 to 1.181 in.) and 1995 to 2005 mm (6.545 to 6.578 ft.), respectively. Check the color on the multi-display and choose a tape color which can be easily seen.
* Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
* Check that the back door is fully closed.
(3) Set a target bar for optical axis adjustment of the side television camera.

HINT
Only when adjusting the optical axis of the camera, create a target bar for adjustment.

Dimension:

Text in Illustration

HINT
Target bars for side camera adjustment should be made with 2 pieces of 2.5 cm wide tape; one piece should be 100 cm (3.28 ft.) (C+D) and the other should be 70 cm (2.30 ft.) (E+F) long. Check the tape color on the multi-display and choose a tape color which can be easily seen.

(b) Start diagnostic mode Navigation System (for DVD).

NOTICE:
Mode setting must be carried out with the engine started. Apply the parking brake, depress the brake pedal, move the shift lever to P, and ensure that the vehicle is not moving.

(1) Select "Function Check/Setting" on the Service Menu screen.

(2) Select "Camera Setting" on the Function Check/Setting screen.

(3) Select "NEXT" on the SIGNAL CHECK screen.

NOTICE:
* When "CHK" (red) is displayed for any items on the SIGNAL CHECK screen, selecting "NEXT" will not change the screen to the SIDE CAMERA POSITION SETTING screen.
* When "CHK" (red) is displayed for any items on the SIGNAL CHECK screen, perform inspections using the SIGNAL CHECK screen Diagnosis System.
HINT
* When the outer mirrors are retracted, selecting "NEXT" will not change the screen to the SIDE CAMERA POSITION SETTING screen.
* If the screen does not change to the SIDE CAMERA POSITION SETTING screen even though the outer mirrors are extended, perform the MIRROR SW check on the SIGNAL CHECK screen Diagnosis System.
* If the screen does not change to the SIDE CAMERA POSITION SETTING screen even after "OK" (blue) is displayed as a result of the MIRROR SW check on the SIGNAL CHECK screen, replace the parking assist ECU.
(c) SIDE CAMERA POSITION SETTING

HINT
Colors used on the side camera position setting screen

Text in Illustration

(1) Perform the roll angle adjustment.

* Select switches A and B to rotate C so that it is parallel to the target adjustment bar.

(2) Perform the vertical and horizontal position adjustment.

* Select the directional switches D, E, F and G to move C so that the target adjustment bar is centered in C.

(3) Select "NEXT" to display SIDE VERIFY MODE.

(d) SIDE VERIFY MODE

(1) Check that the red cross and the target adjustment bar are aligned.

HINT
If they are not aligned, select "BACK" and perform SIDE CAMERA POSITION SETTING again.

(2) Select "NEXT" to store the side camera aiming adjustment value and change the screen to the STEERING ANGLE SETTING screen.

HINT
* When "NEXT" is selected, a beep will sound to confirm that the side camera aiming adjustment values have been stored.
* The adjustment value will not be stored unless "NEXT" is selected.
(e) STEERING ANGLE SETTING

(1) Perform the STEERING CENTER MEMORIZE operation.

* Check that the steering wheel is centered, and then select "STEERING CENTER MEMORIZE".

HINT
When performing removal and installation, or replacement of the television camera, steering angle adjustment is not required.

(2) Perform the MAX STEERING ANGLE MEMORIZE operation.

* After adjusting the steering angle neutral point, turn the steering wheel to the left and right lock positions and select "MAX STEERING ANGLE MEMORIZE". The maximum steering angle is then stored and the screen changes to the BACK CAMERA POSITION SETTING screen.

HINT
The "NEXT" button does not respond until the system stores the steering angle neutral point and maximum steering angle.

HINT
* It is also possible to start by initially turning the steering to the right side.
* When "MAX STEERING ANGLE MEMORIZE" is selected, a beep will sound to confirm that the steering adjustment values have been stored.
* The adjustment value will not be stored unless "MAX STEERING ANGLE MEMORIZE" is selected after turning the steering wheel side to side.
* When "BACK" is selected, the screen changes to SIDE VERIFY MODE without storing the set values.
* Even if no DTCs are detected, selecting "MAX STEERING ANGLE MEMORIZE" may not cause the adjustment value to be stored if the steering sensor is malfunctioning.
* If selecting "MAX STEERING ANGLE MEMORIZE" does not cause the adjustment value to be stored after adjusting the steering angle, replace the spiral with sensor cable sub-assembly.
(f) BACK CAMERA POSITION SETTING

HINT
* When the back door is open, the "Back door is open. Do not use the rear view monitor when the back door is not completely closed." message will be displayed and camera position setting will not be possible.
* If the "Back door is open. Do not use the rear view monitor when the back door is not completely closed." message is displayed even when the back door is closed, perform inspections according to Problem Symptoms Table (A back door open warning message is displayed even after back door is closed).
(1) Perform the roll angle adjustment.

* Select switches A and B to rotate C so that it is parallel to the target adjustment bar.

(2) Perform the vertical and horizontal position adjustment.

* Select the directional switches D, E, F and G to move C so that the target adjustment bar is centered in C.

(3) Select the "NEXT" button on the BACK CAMERA POSITION SETTING screen.

(g) BACK VERIFY MODE

Dimension:

Text in Illustration

HINT
* Set a piece of tape on the ground as the target bar for adjustment. Its width and length should be 20 to 30 mm (0.787 to 1.181 in.) and 1995 to 2005 mm (6.545 to 6.578 ft.), respectively. Check the color on the multi-display and choose a tape color which can be easily seen.
* Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
* Check that the back door is fully closed.
(b) Start diagnostic mode Navigation System (for DVD).

NOTICE:
Mode setting must be carried out with the engine started. Apply the parking brake, depress the brake pedal, move the shift lever to P, and ensure that the vehicle is not moving.

(1) Select "Function Check/Setting" on the "Service Menu" screen.

(2) Select "Camera Setting" on the Function Check/Setting screen.

(3) Select "BACK CAMERA SETTING" on the MODE SETTING screen.

HINT
To select a grayed out item, select and hold the item for 2 seconds or more.

(4) Select "NEXT" on the SIGNAL CHECK screen.

NOTICE:
* When "CHK" (red) is displayed for any items on the SIGNAL CHECK screen, selecting "NEXT" will not change the screen to the BACK CAMERA POSITION SETTING screen.
* When "CHK" (red) is displayed for any items on the SIGNAL CHECK screen, perform inspections using the SIGNAL CHECK screen Diagnosis System.
(c) BACK CAMERA POSITION SETTING

HINT
* When the back door is open, the "Back door is open. Do not use the rear view monitor when the back door is not completely closed." message will be displayed and camera position setting will not be possible.
* If the "Back door is open. Do not use the rear view monitor when the back door is not completely closed." message is displayed even when the back door is closed, perform inspections according to Problem Symptoms Table (A back door open warning message is displayed even after back door is closed) Message indicating Back Door is Open is Displayed even after Back Door is Closed.
(1) Perform the roll angle adjustment.

* Select switches A and B to rotate C so that it is parallel to the target adjustment bar.

(2) Perform the vertical and horizontal position adjustment.

* Select the directional switches D, E, F and G to move C so that the target adjustment bar is centered in C.

(3) Select the "NEXT" button on the "BACK CAMERA POSITION SETTING" screen.

(d) BACK VERIFY MODE

(1) Check that A and the target adjustment bar are overlapping.

* If the steering angle neutral point is not aligned, perform the STEERING CENTER MEMORIZE and MAX STEERING ANGLE MEMORIZE operations.

* If A and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the camera position setting operation.

(2) Selecting "OK" will return the screen to the Service Menu, and complete the adjustment.

HINT
* The update is not completed until "OK" is selected.
* When "OK" is selected, a beep will sound to confirm that the rear camera aiming adjustment values have been stored.
(e) Finish diagnostic mode.

23. STEERING ANGLE NEUTRAL POINT (Parking Assist Monitor System)

(a) When "System initializing" is displayed on the multi-display, correct the steering angle neutral point using the following method.

(1) Fully turn the steering wheel to the right and left on the flat ground.

NOTICE:
Memorizing the steering angle neutral point must be carried out with the engine started. Apply the parking brake, depress the brake pedal, move the shift lever to P, and ensure that the vehicle is not moving.

HINT
"?" button is displayed at the same time as "System initializing". If the "?" button is selected, this method is displayed.

24. STEERING ANGLE SETTING (after parking assist ECU is initialized) (Parking Assist Monitor System)

HINT
If the vehicle width extension lines and predicted path lines are not aligned when the steering wheel is centered, or if the predicted path line does not move before the steering wheel is fully turned to either the left or right, adjust the steering angle settings.

(a) Center the steering wheel and stop the vehicle.

(b) Start diagnostic mode.

NOTICE:
Be sure to apply the parking brake, depress the brake pedal and move the shift lever to P before adjusting the steering angle settings. The steering angle settings need to be adjusted while the engine is stopped.

(1) Select "Function Check/Setting" on the Service Menu screen.

(2) Select "Camera Setting" on the Function Check/Setting screen.

(3) Select "STEERING ANGLE SETTING" on the MODE SETTING screen.

HINT
To select a grayed out item, select and hold the item for 2 seconds or more.

(4) Select "NEXT" on the SIGNAL CHECK screen to display the STEERING ANGLE SETTING screen.

NOTICE:
* When "CHK" (red) is displayed for any items on the SIGNAL CHECK screen, selecting "NEXT" will not change the screen to the STEERING ANGLE SETTING screen.
* When "CHK" is displayed for any items on the SIGNAL CHECK screen, perform inspections using the SIGNAL CHECK screen.
(c) Steering angle setting

(1) Check that the steering wheel is centered (approximately +/- 5 degrees or less) and select "STEERING CENTER MEMORIZE".

(2) After the centered steering position is memorized, turn the steering wheel to the left and then to the right full lock positions and select "MAX STEERING ANGLE MEMORIZE" or "OK".

HINT
It is also possible to start by initially turning the steering wheel to the right side.

(3) Select "MAX STEERING ANGLE MEMORIZE" or "OK" to store the steering angle adjustment value and change the screen to the MODE SETTING screen.

HINT
* When "MAX STEERING ANGLE MEMORIZE" or "OK" is selected, a beep will sound to confirm that the steering angle adjustment values have been stored.
* The adjustment values will not be stored unless "MAX STEERING ANGLE MEMORIZE" or "OK" is selected.
* When "BACK" is selected, the screen changes to SIGNAL CHECK without storing the set values.
* If the steering angle settings have not been adjusted, selecting "MAX STEERING ANGLE MEMORIZE" or "OK" will not cause the adjustment values to be stored.
* Even if no DTCs are detected, selecting "MAX STEERING ANGLE MEMORIZE" or "OK" may not cause the adjustment value to be stored if the steering sensor is malfunctioning.
* If selecting "MAX STEERING ANGLE MEMORIZE" or "OK" does not cause the adjustment value to be stored after adjusting the steering angle, replace the spiral with sensor cable sub-assembly.
(d) Finish diagnostic mode.

(e) Confirm steering angle adjustment.

HINT
If the steering angle has been adjusted, confirm the steering angle adjustment on the parking assist monitor screen after finishing diagnosis mode.

(1) Check on the parking assist screen that the predicted path line moves until the steering wheel is fully turned to either the left or right.

HINT
If the predicted path line stops moving before the steering wheel is fully turned to either the left or right, the steering angle adjustment values have not been stored correctly. In this case, perform "STEERING CENTER MEMORIZE" and "MAX STEERING ANGLE MEMORIZE" again.

25. ADJUST SIDE MONITOR SYSTEM (Side Monitor System (w/ Parking Assist Monitor System))

(a) This side monitor system can be set from the diagnostic screen of the multi-display.

(b) If the following operations are performed, it is necessary to perform adjustments and checks on the diagnostic screen.

HINT
The adjustment values stored while performing side view monitor system calibration are stored in the parking assist ECU.

26. SIDE CAMERA POSITION SETTING (Side Monitor System (w/ Parking Assist Monitor System))

HINT
Be sure to check for DTCs before performing this procedure Side Monitor System (w/ Parking Assist Monitor System).

(a) Preparation for adjustment

(1) Park the vehicle with the steering wheel centered.

(2) Set a target bar for optical axis adjustment of the side television camera.