after repair the multi terrain system and Crawl Control do not work. how to calibrate them?

Tell the dealer to do "Zero Point Calibration". If you have Techstream on your laptop and OBD-ll cable you can do it at home via few simple steps. I had mine 4th gen done at the dealer.

I would like to do it myself, without a dealer

There are probably more posts about this if you do a search. I saved this old post that uses an old style jumper box - SST, but it's just a simple jumper procedure if you hit the correct terminals.

Originally Posted by iDRiVaT4R edited

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.

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

 

I saw it. need more expanded

Calibrations required:

Delete sensor calibration data "zero"
Calibrate the "zero" sensor slowdown and yaw.
Steering Wheel Angle Sensor Zero Calibration
Calibration of the downhill assistance system (for models with downhill assistance systems)
Crawl switch calibration (for models with Crawl system)


PERFORM THE CALIBRATION "ZERO" OF SLOWDOWN SENSOR AND SEAT AND THE ANGLE OF THE STEERING OF THE STEERING WHEEL (when using a portable diagnostic device)


NOTE:
Ensure that the vehicle remains stationary during the calibration process of the sensor “zero”. Do not tilt, move or shake it (do not start the engine).
The described actions must be performed on a flat surface (with a slope of less than 1%).



Reset the sensor “zero” calibration.



Switch off the ignition.


Make sure the steering wheel is in the center position.


For models with mechanical transmission:
Make sure the gear shift lever is in neutral and apply the parking brake.
For models with automatic transmission:
Make sure the shift lever is in position P.


Connect the handheld diagnostic device to the DLC3.


Turn on the ignition (IG).


Turn on the handheld diagnostic tool.


Enter the following menus: Chassis / ABS / VSC / TRC / Utility / Reset Memory.


Switch off the ignition.



Calibrate the "zero" deceleration and yaw sensor.



Switch off the ignition.


Make sure the steering wheel is in the center position.


For models with mechanical transmission:
Make sure the gear shift lever is in neutral and apply the parking brake.
For models with automatic transmission:
Make sure the shift lever is in position P.

NOTE:
If the gearshift lever is not in position P (for models with automatic transmission), or the parking brake is not applied (for models with manual transmission), DTCs C1210 will not be recorded (the yaw gauge has not been calibrated) and C1336 (not executed) "zero" calibration of the deceleration sensor).
If a DTC is displayed, indicating that the sensor zero calibration is not complete, repeat the procedure, starting with deleting the sensor zero calibration data and system information.




Connect the handheld diagnostic device to the DLC3.


Turn on the ignition (IG).


Turn on the handheld diagnostic tool.


Enter the following menus: Chassis / ABS / VSC / TRC / Utility / Test Mode.


Leave the car stationary on a flat surface for at least 5 s.


Make sure that the SLIP indicator turns on for a few seconds and then flashes according to the active diagnostics mode circuit (0.125 s on and 0.125 s off).

TIP:
If the SLIP indicator does not flash, recalibrate the sensor zero.
After the system is switched to the active diagnostics mode, the “zero” sensor calibration can be performed only once.
Calibration cannot be performed again until the stored data has been deleted from memory.




Switch off the ignition and disconnect the handheld diagnostic tool.


Drive your car straight at 40 km / h (25 mph) or more for at least 10 s.


PERFORM THE CALIBRATION "ZERO" SLOWDOWN AND LEFT SENSOR AND STEERING TURNER SENSOR (using the SST diagnostic wiring harness)


NOTE:
Ensure that the vehicle remains stationary during the calibration process of the sensor “zero”. Do not tilt, move or shake it (do not start the engine).
The described actions must be performed on a flat surface (with a slope of less than 1%).





Reset the sensor “zero” calibration.



Switch off the ignition.


Make sure the steering wheel is in the center position.


For models with mechanical transmission:
Make sure the gear shift lever is in neutral and apply the parking brake.
For models with automatic transmission:
Make sure the shift lever is in position P.


Turn on the ignition (IG).


The ABS and SLIP warning lights come on for 3 seconds to inform the driver that the initial check has been completed.





Using SST, connect and disconnect pins 12 (TS) and 4 (CG) of the DLC3 connector at least 4 times within 8 s.
Sst
09843-18040
Key to the picture * a Front view of the DLC3 connector




Check that the SLIP indicator lamp is on.





Calibrate the "zero" deceleration and yaw sensor.



Switch off the ignition.


Make sure the steering wheel is in the center position.


For models with mechanical transmission:
Make sure the gear shift lever is in neutral and apply the parking brake.
For models with automatic transmission:
Make sure the shift lever is in position P.

NOTE:
If the shift lever is not in position

multi terrain system there is no ..