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Unread 09-01-2010, 01:23 PM   #1
iDRiVaT4R
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Default Yaw Rate and Acceleration Sensor Zero Point Calibration

EDIT: Here are the steps for performing Zero Point Calibration taken from the 5th Gen 4Runner Repair Manual.

IF your 4Runner is equipped with either DAC or Crawl Control, you must complete steps 4 and/or 5 or you will get a DTC and the slip indicator will always be lit.

I highly recommend this calibration if you think the VSC on your 4Runner kicks in too much, before or after lift. Mine was overreacting both before and after the lift, now for daily driving don't even know its there.

PERFORM YAW RATE AND ACCELERATION SENSOR AND STEERING ANGLE SENSOR ZERO POINT CALIBRATION (When Using SST Check Wire)

NOTICE:

* While obtaining the zero points, keep the vehicle stationary and do not vibrate, tilt, move, or shake it (do not start the engine).
* Be sure to perform this procedure on a level surface (with an inclination of less than 1%).

(a) Clear the zero point calibration data.

(1) Turn the ignition switch off.

(2) Check that the steering wheel is centered.

(3) Check that the shift lever is in P.

(4) Turn the ignition switch to ON.

(5) The ABS warning light and slip indicator light come on for 3 seconds to indicate that the initial check is completed.

(6) Using SST, connect and disconnect terminals 12 (TS) and 4 (CG) of the DLC3 4 times or more within 8 seconds.

Front view of DLC3


(7) Check that the slip indicator light comes on.

(b) Perform zero point calibration of the yaw rate and acceleration sensor.

(1) Turn the ignition switch off.

(2) Check that the steering wheel is centered.

(3) Check that the shift lever is in P.

NOTICE:

* DTCs 36 (Zero Point Calibration of Yaw Rate Sensor Undone) and 39 (Zero Point Calibration of Acceleration Sensor Undone) are stored if the shift lever is not in P.
* If a DTC is output that indicates zero point calibration is incomplete, repeat the procedure starting at the step for clearing the zero point calibration data and system information.


(4) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.

Front view of DLC3


(5) Turn the ignition switch to ON.

(6) Keep the vehicle stationary on a level surface for 5 seconds or more.

(7) Check that the slip indicator light comes on for several seconds and then blink in the test mode pattern (0.125 seconds on and 0.125 seconds off).

HINT:

* If the slip indicator light does not blink, perform zero point calibration again.
* The zero point calibration is performed only once after the system enters test mode.
* Calibration cannot be performed again until the stored data is cleared.


(8) Turn the ignition switch off and disconnect SST from the DLC3.

(c) Drive the vehicle straight ahead at 40 km/h (25 mph) or more for at least 10 seconds. (I was unable to do this task, just driving it around should be OK)




4. PERFORM DOWNHILL ASSIST CONTROL CALIBRATION (w/ Downhill Assist Control)

(b) Enter test mode (when using SST check wire).

(1) Turn the ignition switch off.

(2) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.

Front view of DLC3


(c) Turn the downhill assist control switch off.

(d) Push the downhill assist control switch and check that the downhill assist control indicator light is blinking.

(e) Turn the downhill assist control switch off.

(f) Turn the ignition switch off.

(g) Check if DTC C120A is output.

HINT:

If DTC C120A is not output, calibration was performed successfully.




5. PERFORM CRAWL CONTROL CALIBRATION (w/ Crawl Control)

(2) Using SST, connect terminals 12 (TS) and 4 (CG) of the DLC3.

Front view of DLC3




(c) Push the crawl ON/OFF switch and check that the crawl indicator light is on while the switch is being pushed.

Text in Illustration


*1 Crawl Control Switch

*2 ON/OFF Switch

*3 Speed Selector Switch

*4 Low

*5 Medium-low

*6 Medium

*7 Medium-high

*8 High

(I pushed in the ON/OFF button while I turned the dial and kept pushed down till the end of the following steps)

(d) Turn the crawl ON/OFF switch off.

(e) Turn the speed selector switch to L (low).

(f) Turn the speed selector switch to medium-low.

(g) Turn the speed selector switch to M (medium).

(h) Turn the speed selector switch to medium-high.

(i) Turn the speed selector switch to H (high).

(j) Turn the speed selector switch to L (low).

(k) Turn the ignition switch off.

(l) Check if DTC C120A is output.

HINT:

If DTC C120A is not output, calibration was performed successfully.


Original Post:
As the title suggests, does anyone know how to reset the yaw rate and acceleration sensor back to zero? Ever since I installed my lift, my VSC seems to kick on a little too much, I'm guessing one possibility is due to the fact that the front is now level with the rear.

I just downloaded the Repair Manual, Thanks again Nashman, and on page 522 under the brake control section, it shows that we can have this Yaw Rate and Acceleration Sensor re-calibrated. I did a Google search and found out that many other older 4Runners have had this same problem, after doing a lift, the VSC kicks on too much, they were able to just use a jumper cable between 2 terminals, perform some fancy work with the ignition and and get it back to zero. Here is a link

I'm sure I can take it into a dealer and have them do it, I just prefer not to deal with dealers if it can be helped.

I have no body roll when cornering, yet my truck thinks I'm about to flip over and activate the VSC, slam on the brakes and etc. and it's scary when your on the side of a cliff, and the brakes engage by themselves. I don't in any means drive reckless either.

Thanks,
Nathan


I just called the local Toyota Dealer and they want $95 to perform the Zero Point Calibration. I would prefer to find a free solution if there is one.
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Last edited by iDRiVaT4R; 09-08-2010 at 10:50 AM.
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Unread 09-01-2010, 02:26 PM   #2
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I don't think recalibration will help that much, but you can try.The VSC can be a bit of a nanny and if it detects the rear kicking out slightly on gravel it will kick in.

Has it changed significantly from pre -lift or are you now simply driving faster since the suspension upgrade? If it changed significantly the calibration might help.

Alternatively you will need to simply turn VSC off.
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Unread 09-06-2010, 05:54 PM   #3
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It has always been fairly sensitive, more so now after the lift.

Anyways I tried the checkwire steps for the zero point calibration and all seemed to go well until the end. In the manual, it states that I need to drive for 10 seconds doing 25 mph after the test in a straight line. I was not able to find a stretch of road long enough, so that was that. My VSC light stays lit Now and I cannot turn it off. HELP!!
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Unread 09-07-2010, 04:50 AM   #4
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Quote:
Originally Posted by iDRiVaT4R View Post
It has always been fairly sensitive, more so now after the lift.

Anyways I tried the checkwire steps for the zero point calibration and all seemed to go well until the end. In the manual, it states that I need to drive for 10 seconds doing 25 mph after the test in a straight line. I was not able to find a stretch of road long enough, so that was that. My VSC light stays lit Now and I cannot turn it off. HELP!!
Can you put the vehicle on jack stands to do the 10 secs at 25 mph ?
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Unread 09-08-2010, 10:18 AM   #5
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I GOT IT WORKING
I have been stressing out a lot since I attempted this on Monday. I was about to take it to the dealer and pay $95. The other day I did the check DTC check wire trick and I was getting a code of 13. I didn't think much of it actually being a code at the time. Anyways, I have been studing the Repair manual all morning to figure out what to do and found out that the ECU calibration was not completed. Here is what code 13 or C120A is for "The master cylinder solenoid is not informed that the vehicle is equipped with downhill assist control or crawl control and downhill assist control or crawl control operates." So I basically just went out to the truck, did the steps for "5. PERFORM CRAWL CONTROL CALIBRATION (w/ Crawl Control)" and now everything works.

I have no DTC stored, the slip indicator is always off now when driving and I can take turns like a bat out of hell without the VSC kicking in and scaring the crap out of myself and my passengers.

If your VSC kicks in a little too much I highly recommend doing this calibration. Steps are basically the same as older 4Runner's as Andries posted in another thread, but you need to perform some extra steps in the 5th gen if you have Downhill Assist Control or Crawl Control or you will be SOL as I was.In the repair manual, the steps are located Brake/Vehicle Stability Control System/Calibration (the 7th option down).
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Unread 09-08-2010, 10:29 AM   #6
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Glad to see you figured it out and did'nt need that trip to the dealer !
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Unread 09-08-2010, 10:32 AM   #7
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Good info thx.

Maybe post the steps for other folks to use in the future. Perhaps we can do a nice tech write up of the whole procedure for future use by others.
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Unread 09-08-2010, 11:09 AM   #8
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I just modified the original post to include all the steps for the procedure. Let me tell you though, I have been so stressed out, mainly about the fact that I was about to lose $95 to the dealer for something I knew I should be able to get working on my own.
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Unread 09-08-2010, 11:20 AM   #9
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Does anyone know if they DAC needs to be calibrated on a 4th gen 4Runner? I was thinking of performing this procedure cause the VSC does seem to kick in a bit early when making some turns after the lift and larger tires.
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Unread 09-08-2010, 12:23 PM   #10
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SP Jon M3, I don't think you have to do the steps for the DAC. I've been doing research for the last week, and everyone with FJ Cruisers and the past gen 4Runner don't mention it anywhere.

Here is the info regarding zero calibration on a 2006 4th Gen 4Runner. Google Doc Link
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Unread 09-08-2010, 01:10 PM   #11
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Great stuff, thx.

Made a copy of the first post in the tech rite up section.
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Last edited by bulldog; 09-08-2010 at 01:14 PM.
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Unread 09-08-2010, 05:17 PM   #12
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Great information!

This pretty much solves concerns I was having. I'll perform this tomorrow after I get my new tires.
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Last edited by Wyorca; 09-08-2010 at 05:46 PM.
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Unread 09-10-2010, 11:39 AM   #13
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I just performed the zero calibration on my friends 2008 4Runner yesterday. We lifted his with OME springs and coils 2 years ago, and his VSC has been a little bit more sensitive since then.

I was able to perform the zero calibration without setting up the DAC, but decided to just do it anyways, basically just consisted of jumping pics 4 and 12 and turning ignition to on, and press down DAC until the dash light starts blinking. You can do all this after your done with the zero calibration steps. Doing these extra steps in a 4th gen might not even matter, but I figured, why not.

On his way home he said he noticed a difference, VSC didn't kick in, so that's good.
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Unread 12-05-2015, 01:57 PM   #14
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Great information, thanks guys!
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Unread 01-20-2016, 04:26 AM   #15
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Great information...any one know where I can get the steps for a 4th Gen (2005) 4TR? I have the SLIP,TRAC OFF, VSC OFF and now ABS light is on. Could be a different issue all together???
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Unread 01-21-2016, 07:48 PM   #16
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Quote:
Originally Posted by jmatt64 View Post
Great information...any one know where I can get the steps for a 4th Gen (2005) 4TR? I have the SLIP,TRAC OFF, VSC OFF and now ABS light is on. Could be a different issue all together???
Use two paper clips and insert into OBD port

Top, 3rd left
Bottom, 4th right

Car on - tap clips together 4 x

Car off
Car on - 2 lights flash for 15 secs then switches off

Car off - connect two clips

Car on - lights flash hold for 30 secs

Car off - remove clips

Car on.

Works for me several times.
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Unread 01-21-2016, 07:49 PM   #17
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Why isn't this under Technical write ups?
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Unread 04-11-2016, 04:20 PM   #18
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Quote:
Originally Posted by Wanderer View Post
Why isn't this under Technical write ups?
Good catch, added it.
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