Part 1

INTRODUCTION: REPAIR INSTRUCTION: INITIALIZATION

INITIALIZATION

Procedures necessary when battery terminal is disconnected / reconnected

Procedures necessary when ECU or other parts are replaced

1. RESET MEMORY (FOR HYBRID TRANSMISSION SYSTEM)
NOTICE:
- If either the hybrid transmission assembly or hybrid vehicle control ECU is replaced, initialize the learned value of Reset Memory.
- Wait 1 minute after disconnecting the negative battery terminal before reset memory.
- The Reset Memory can be performed only with the Techstream.
HINT: Disconnecting the negative battery terminal does not initialize (clear) the learned value.

(a) Connect the Techstream to the DLC3.
(b) Turn the power switch on (READY) and turn the Techstream on.
NOTE: Check that the shift lever is in the P position and turn the power switch on (READY).

(c) Select the following menu items: Powertrain / Hybrid Control / Data List. Read the data list before performing Reset Memory.

Check Item

NOTICE:
- Do not depress the accelerator pedal during reset memory.
- Do not move the shift lever from the P position.
- If the specified conditions above are not satisfied, warm up the engine with the power switch on (READY) until each data meets the specified condition.

(d) Select the following menu items: Powertrain / Hybrid Control / Reset Memory.
CAUTION: After performing the Reset Memory, be sure to perform the ROAD TEST Initial Inspection and Diagnostic Overview described earlier.
NOTE: During reset memory, do not turn off either the power switch or the Techstream.
HINT:
- Approximately 1 minute is required to complete reset memory.
- The ECU is learned by performing the ROAD TEST.

2. REGISTRATION OF TRANSMITTER ID
(a) Set the tire pressure of all the wheels to the specified value Service Precautions.
(b) Turn the power switch off.
(c) Connect the Techstream to the DLC3.
(d) Turn the power switch on (IG).
(e) Turn the Techstream on.
(f) Perform the transmitter ID registration. Enter the following menus: Chassis / Tire Pressure Monitor / Utility / ID Registration.
(g) Select the registration mode "MAIN Set".
HINT:
- Check that the tire pressure warning select switch is in "MAIN".
- When registering 2nd set, select the registration mode "2nd Set" after changing the tire pressure warning select switch to "2nd".

(h) Input the transmitter IDs (ID1 to ID4) using the Techstream and transmit them to the tire pressure warning ECU.
(i) The "ID Registration is complete" is displayed on the Techstream display.
HINT:
- The tire pressure warning light will continue to blink until the tire pressure warning ECU receives the input ID signals.
- The previously registered IDs will be deleted from the memory when the registration is completed.
- Registration can be performed during initialization. However, the initialization will be cancelled when the registration is started.

3. CONFIRMATION OF TRANSMITTER ID REGISTRATION
(a) Turn the power switch off.
(b) Connect the Techstream to the DLC3.
(c) Turn the power switch on (IG).
(d) Turn the Techstream on.
(e) Confirm that the data of tire pressure of all wheels are displayed on the Techstream display. Enter the following menus: Chassis / Tire Pressure Monitor / Data List.

Tire Pressure Monitor:

NOTICE:
- *1: It may take about 2 or 3 minutes until the values are displayed. If the values are not displayed after a few minutes, perform troubleshooting according to the inspection procedure for DTCs C2121/21 to C2124/24 or C2131/31 to C2134/34 C2121.
- If the IDs have not been registered, DTC C2171/71 or C2172/72 will be stored in the tire pressure warning ECU after 3 minutes or more.
- If normal pressure values are displayed, the IDs have been registered correctly.
- If the tire pressure values are not displayed after a few minutes, the IDs may be incorrect or the system may have a malfunction.
- After all IDs are registered, DTC C2126/26 (Transmitter ID not Received in Main Mode) or DTC C2127/27 (Transmitter ID not Received in 2nd Mode) is stored in the tire pressure warning ECU and the tire pressure warning light blinks for 1 minute and then comes on. When the tire pressure warning ECU successfully receives radio waves from all the transmitters whose IDs are stored in the ECU, DTC C2126/26 or C2127/27 is deleted and the tire pressure warning light goes off.

4. INITIALIZATION PROCEDURE (FOR TIRE PRESSURE WARNING SYSTEM)

(a) Turn the power switch on (IG).

(b) Press and hold the tire pressure warning reset switch for 3 seconds or more so that the tire pressure warning light blinks 3 times (1 second on, 1 second off). If the engine is on, "PRESSURE INITIAL" will be displayed on the multi-information display.
HINT: Initialization will be completed if signals are received from all the wheels.

(c) Turn the power switch off.

(d) Wait for 2 or 3 minutes with the power switch on (IG).
- The initialization is normally completed within 2 to 3 minutes.
- If the initialization has not been completed successfully, DTC C2177/77 will be stored in the tire pressure warning ECU after a vehicle speed of 8 km/h (5 mph) or more continues for 20 minutes or more.
- The initialization can be terminated by connecting terminals TC and CG of the DLC3.

5. CONFIRM INITIALIZATION HAS BEEN COMPLETED (FOR TIRE PRESSURE WARNING SYSTEM)
(a) Check the data of tire pressure of all the wheels are displayed on the Techstream display to confirm that the initialization has been completed.
(1) Turn the power switch off.
(2) Connect the Techstream to the DLC3.
(3) Turn the power switch on (IG).
(4) Turn the Techstream on.
(5) Check the Data List. Enter the following menus: Chassis / Tire Pressure Monitor / Data List.

Tire Pressure Monitor:

HINT:
- The initialization is complete when the Data List "ID Tire Inflation Pressure" display shows the correct pressures.
- *1: It may take about 2 or 3 minutes until the values are displayed. If the values are not displayed after a few minutes, perform troubleshooting according to the inspection procedure for DTCs C2121/21 to C2124/24 or C2131/31 to C2134/34 C2121.

6. CLEAR STORED VALUE OF INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING TECHSTREAM)
(a) Connect the Techstream to the DLC3.
(b) Move the shift lever to the P position.
(c) Turn the power switch ON (IG) with the brake pedal released.
(d) Perform the Reset Memory function under the ABS/VSC/TRAC menu.
(e) Perform initialization of linear solenoid valve.
(f) Perform zero point calibration of yaw rate and acceleration sensor Programming and Relearning.
7. PERFORM INITIALIZATION OF LINEAR SOLENOID VALVE AND CALIBRATION (WHEN USING TECHSTREAM)
(a) Connect the Techstream to the DLC3.
(b) Move the shift lever to the P position.
(c) Turn the power switch ON (IG) with the brake pedal released.
NOTICE:
- If the linear solenoid valve offset learning is performed without turning the power switch ON (IG), the learning process may not be completed properly because of insufficient battery voltage.
- When the linear solenoid valve offset learning is interrupted, or the learning process is performed with the shift lever not in the P position, DTC C1345/66 will be stored.

(d) Set the Techstream to Test Mode (select "ECB* Utility").
*: Electronically Controlled Brake
HINT: Refer to the Techstream operator's manual for further details.

(e) Leave the vehicle stationary without depressing the brake pedal for 1 or 2 minutes.

(a) Move the shift lever to the P position.

(b) Turn the power switch ON (IG) with the brake pedal released.
(c) Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.
SST: 09843-18040
(d) Check that no codes other than ABS code 42, VSC code 45 and electronically controlled brake system code 48, 66, or 95 are stored in the diagnostic system.

(b) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
SST: 09843-18040

(c) Move the shift lever to the P position.
(d) Turn the power switch ON (IG) with the brake pedal released.
NOTICE:
- If the linear solenoid valve offset learning is performed without turning the power switch ON (IG), the learning process may not be completed properly because of insufficient battery voltage.
- When the linear solenoid valve offset learning is interrupted, or the learning process is performed with the shift lever not in the P position, DTC C1345/66 will be stored.

(e) Leave the vehicle stationary without depressing the brake pedal for 1 or 2 minutes.

(f) Check that the interval between blinks of the brake control warning light changes from 1 second to 0.25 seconds.
- The time needed to complete initialization of linear solenoid valve and calibration varies depending on the battery voltage.
- The brake control warning light blinks at 1 second intervals during the initialization of linear solenoid valve and calibration and changes to the Test Mode display.
- The brake control warning light blinks at 0.25 seconds intervals if the Test Mode is normal.

(g) When the brake control warning light changes to the Test Mode display, check that DTC C1345/66, which indicates trouble with stroke sensor zero point learning, is not output.
(h) Turn the power switch OFF and disconnect SST from the DLC3.
10. CLEAR ZERO POINT CALIBRATION (WHEN USING TECHSTREAM)
(a) Connect the Techstream to the DLC3.
(b) Turn the power switch ON (IG).
(c) Operate the Techstream to erase the codes (select "Reset Memory").
HINT: Refer to the Techstream operator's manual for further details.

(d) Using the Techstream, perform zero point calibration of the yaw rate and acceleration sensor.
11. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR (WHEN USING TECHSTREAM)
NOTICE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking it. Keep it in a stationary condition and do not start the engine (hybrid).
- Choose a level surface with an inclination of less than 1 degree.

(a) Procedures for Test Mode.
(1) Ensure that the steering wheel is centered, move the shift lever to the P position, and apply the parking brake.
NOTE: DTC C1210/36 and C1336/39 will be recorded if the shift lever is not in the P position.
(2) Connect the Techstream to the DLC3.
(3) Turn the power switch ON (IG).
(4) Set the Techstream to Test Mode (select "Test Mode").
HINT: Refer to the Techstream operator's manual for further details.

(b) Obtain the zero point of the yaw rate and acceleration sensor.
(1) Keep the vehicle stationary on a level surface for 2 seconds or longer.

(2) Check that the ABS and brake control warning lights blink and VSC test mode message is indicated on the multi-information display (Test Mode).
- If the ABS and brake control warning lights do not blink and VSC test mode message is not indicated on the multi information display, perform zero point calibration again.
- Illustrations may differ from the actual screen displayed depending on the specifications of the vehicle and customized settings.
- The zero point calibration is performed only once after the system enters the Test Mode.
- Calibration cannot be performed again until the stored data is cleared.

(c) Turn the power switch OFF and disconnect the Techstream.
12. CLEAR ZERO POINT CALIBRATION (WHEN USING SST CHECK WIRE)

(a) Turn the power switch ON (IG).

(b) Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.
SST: 09843-18040
(c) Check that no codes other than ABS code 42, VSC code 45 and electronically controlled brake system code 48, 66, or 95 are stored in the diagnostic system.

HINT:
- The ABS warning light and multi-information display do not indicate the normal system code.
- Illustrations may differ from the actual screen displayed depending on the specifications of the vehicle and customized settings.

(d) Remove SST from the terminals of the DLC3.
(e) Using a check wire, perform zero point calibration of the yaw rate and acceleration sensor.
13. PERFORM ZERO POINT CALIBRATION OF YAW RATE AND ACCELERATION SENSOR (WHEN USING SST CHECK WIRE)
NOTICE:
- While obtaining the zero point, do not vibrate the vehicle by tilting, moving or shaking. Keep it in a stationary condition and do not start the engine (hybrid).
- Choose a level surface with an inclination of less than 1 degree.

(a) Procedures for Test Mode.
(1) Turn the power switch OFF.

(2) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
SST: 09843-18040
(3) Check that the steering wheel is in the centered position and move the shift lever to the P position.
NOTE: DTC C1210/36 and C1336/39 will be recorded if the shift lever is not in the P position.

(b) Obtain the zero point of the yaw rate and acceleration sensor.
(1) Turn the power switch ON (IG).
(2) Keep the vehicle in a stationary condition on a level surface for 2 seconds or more.

(3) Check that the ABS and brake control warning lights blink and VSC test mode message is indicated on the multi-information display (Test Mode).
- If the ABS and brake control warning lights do not blink and VSC test mode message is not indicated on the multi-information display, perform zero point calibration again.
- Illustrations may differ from the actual screen displayed depending on the specifications of the vehicle and customized settings.
- The zero point calibration is performed only once after the system enters the Test Mode.
- Calibration cannot be performed again until the stored data is cleared.

(c) Turn the power switch OFF and disconnect the SST from the DLC3.
14. INSTALL BRAKE PEDAL STROKE SENSOR ASSEMBLY
(a) When installing a new brake pedal stroke sensor assembly:
(1) Install a new sensor with the 2 nuts.
Torque: 8.5 Nm (87 kgf-cm, 75 in-lbf)
NOTICE:
- Engage the sensor lever with the brake pedal groove.
- Check that there is no foreign matter attached to the sensor's contacting surface.
(2) Firmly depress the brake pedal and break the sensor lever set pin.
(3) Remove the broken sensor lever set pin.
(4) Connect the sensor connector.
(b) When reusing the brake pedal stroke sensor assembly:

(1) Temporarily install the sensor with the 2 nuts.
- Engage the sensor lever with the brake pedal groove.
- Check that there is no foreign matter attached to the sensor's contacting surface.
(2) Connect the sensor connector.
(3) Connect the cable to the negative battery terminal.
(4) Connect the Techstream to the DLC3.

(5) Turn the power switch ON (IG). Reading the stroke sensor value shown on the data monitor, turn the sensor slowly to the right and left to adjust the output voltage to the standard voltage.
Standard voltage:
0.8 to 1.2 V
(6) Disconnect the cable from the negative battery terminal.
(7) Tighten the 2 nuts.
Torque: 8.5 Nm (86 kgf-cm, 75 in-lbf)
NOTE: Do not depress the brake pedal after turning the power switch ON (IG).

15. VGRS SYSTEM CALIBRATION PROCEDURE (USING SST CHECK WIRE)
1. FACE TIRES STRAIGHT AHEAD
NOTE: Drive the vehicle to confirm that the steering wheel is centered.

NEXT -- Continue to next step.
2. CHECK DTC
(a) Check for DTCs Variable Gear Ratio Steering System.
Result:

B -- Go to step 4
A -- Continue to next step.
3. PERFORM ACTUATOR ANGLE INITIALIZATION
SST: 09843-18040

(a) Turn the power switch ON (IG).
(b) Start the engine.
(c) Center the steering wheel.
(d) 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 the SST check wire from terminal 12 (TS) of the DLC3, and turn the steering wheel to the left 180° or more.
(3) Connect the SST to terminal 12 (TS) of the DLC3.
(4) Disconnect the SST from terminal 13 (TC) of the DLC3, and turn the steering wheel to the right 180° or more.
(5) Connect the SST to terminal 13 (TC) of the DLC3.
HINT: When the master warning light (VGRS) comes on, DTC C1591/51 is memorized.
(e) Disconnect the SST from the DLC3.
(f) Turn the power switch OFF.
NEXT -- Go to step 1
4. FACE TIRES STRAIGHT AHEAD
(a) Confirm that the steering wheel is centered when facing the tires straight ahead.
NOTE: Drive the vehicle to confirm that is steering wheel is centered.

Result:

B -- Go to step 8
A -- Continue to next step.
5. UNLOCK STEERING ACTUATOR
NOTE: Do not start the engine.
(a) Turn the power switch OFF.
(b) Disconnect the negative (-) terminal cable from the battery.

(c) Disconnect the K26 connector from the steering actuator.
(d) Connect a jumper wire from terminal LV+ to the positive (+) battery terminal and another jumper wire from terminal LG+ to the negative (-) battery terminal.
NOTE: Do not apply voltage for more than 3 minutes.

NEXT -- Continue to next step.
6. STEERING CENTER ADJUSTMENT
(a) Center the steering wheel.
NOTE: If the spiral cable of the airbags and VGRS system is not centered when the steering wheel is installed, release the system lock and center the spiral cable Installation. Slowly turn the steering wheel to the left. Turn it to the right approximately 2 turns from the point where resistance begins to be felt (the end of the spiral cable) while steering. This will center the spiral cable. If excessive force is applied to the end of the spiral cable, the cable may break.

NEXT -- Continue to next step.
7. LOCK STEERING ACTUATOR
(a) Disconnect the positive (+) and negative (-) battery terminal cables from the steering actuator.
(b) Connect the K26 connector to the steering actuator.
(c) Connect the negative (-) terminal cable to the battery.
(d) Turn the steering wheel approximately 3° to the left and right. Confirm that the reaction force can be felt.
NOTICE:
- 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 power switch OFF.

NEXT -- Go to step 1
8. ADJUST ACTUATOR ANGLE
HINT: Activating and ending test mode will complete actuator angle adjustment.
(a) Make sure the power switch is OFF.
NOTE: Do not touch the steering wheel during these procedures.

(b) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.
SST: 09843-18040
(c) Turn the power switch ON (IG).
(d) Confirm that the "VGRS TEST MODE" is displayed on the multi-information display when test mode is activated.
(e) Turn the power switch OFF.
(f) Disconnect the SST from terminals 12 (TS) and 4 (CG) of the DLC3.
(g) Turn the power switch ON (IG) again.
NEXT -- Continue to next step.
9. CHECK MASTER WARNING LIGHT
(a) Confirm that the master warning light (VGRS) is off.
(b) Turn the power switch OFF.
(c) Confirm that master warning light (VGRS) is operating normally.
NEXT -- Continue to next step.
10. CHECK STEERING WHEEL OPERATION
(a) Start the engine.
(b) Perform the steering angle sensor initialization Programming and Relearning.
(c) Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
(d) Drive the vehicle and confirm that the steering wheel is centered.
NEXT -- END
16. VGRS SYSTEM CALIBRATION PROCEDURE (USING TECHSTREAM)
1. FACE TIRES STRAIGHT AHEAD
NOTE: Drive the vehicle to confirm that the steering wheel is centered.

NEXT -- Continue to next step.
2. PERFORM VGRS SYSTEM CALIBRATION
(a) Connect the Techstream to the DLC3.
(b) Turn the power switch ON (IG).
(c) Turn the Techstream on.
(d) Enter the following menus: Chassis / VGRS / Utility / Steering Angle Adjust.
(e) Perform the following procedures displayed on the Techstream.
NEXT -- Continue to next step.
3. CHECK MASTER WARNING LIGHT
(a) Confirm that the master warning light (VGRS) is off.
(b) Turn the power switch OFF.
(c) Disconnect the Techstream from the DLC3.
(d) Turn the power switch ON (IG).
(e) Confirm that master warning light (VGRS) is operating normally.
NEXT -- Continue to next step.
4. CHECK STEERING WHEEL OPERATION
(a) Start the engine.
(b) Perform the steering angle sensor initialization Programming and Relearning.
(c) Turn the steering wheel from lock to lock and check that it rotates approximately 2.7 turns.
(d) Drive the vehicle and confirm that the steering wheel is centered.
NEXT -- END