DTC 21
DTC 21: Magnetic Encoder1. Clear the DTC using the HDS.
2. Disconnect the HDS from the 16P DLC.
3. Test-drive the vehicle at 19 mph (30 km/h) or more.
Does the ABS indicator come on, and are DTCs 21, 22, 23, and/or 24 indicated?
YES - Go to step 3.
NO - The system is OK at this time.
4. Check the appropriate wheel sensor/encoder (see table).
Are the sensor and encoder OK?
YES - Check for loose terminals in the VSA control unit 47P connector. If necessary, substitute a known-good VSA modulator-control unit, and recheck.
NO - Clean and reinstall or replace the magnetic encoder.