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Major thanks to daneli1 for this one! Used his information and experiences to fix my own SRS light. Great write up!! My situation: SRS was fine for 13 years, but two months after having airbag recall done at the dealer I get the red SRS light staying on after self test. No apparent reason. No accident, impact. Nothing funny electrically going on. No obvious reason. Thought it might have been related to the airbag recall work. Turned out not to be that. Read the SRS codes by jumpering pins 4 and 9 on the ODBII port. My SRS codes did not repeat over and over, just flashed 9-2, then 9-3 and then stopped. 9-2 is internal SRS failure and 9-3 is faulty drivers seat belt switch. While looking at SRS codes, I noticed the ABS and TCS lights were flashing codes too. Both of these repeated in an endless loop. ABS codes were 6-1 (ignition voltage) and 8-1 (central processing unit). TCS codes were 3-1 (TCS inhibition) and 3-4 (abnormal reference voltage signal). Odd thing was there was nothing wrong with the ABS or the TCS. But the continuous references to voltages (ABS 6-1 and TCS 3-4), and the caveat on the 9-2 code (NOTE: before troubleshooting DTC 9-1 or 9-2, check battery/system voltage. If the voltage is low, repair the charging system or replace the battery before troubleshooting the SRS) were pushing me in the 'bad voltage' direction. Funny thing was, I had no problems (that I was aware of) with the battery. Started fine. Even several times in a row. Lights weren't dim. I had no other indications of a battery problem. After reading daneli1's title, SRS light out after four years and his awesome information on how tight the voltage tolerances are, I was confident I had my problem cornered. Had the battery professionally checked. It failed. It was only 3 1/2 years old. Replaced battery. SRS codes were still present but remember you have to clear them. Cleared the SRS codes, light blinked twice, went out and stayed out. Problem solved!! Two minor points: #1: the 9-3 code about the drivers seat belt buckle switch may have been self induced. I was disconnecting wire plugs and spraying them with contact cleaner. I probably disconnected the drivers side one with the key in. Oops. It cleared no problem when I cleared SRS codes after the battery change. #2: I jumpered the OBDII again to see if any codes remained. Strangely, the ABS codes and the TCS codes described above were still present. Maybe there's a procedure for clearing ABS or TCS codes that's different from clearing SRS codes. I don't know. But, as I said before, nothing's wrong with the ABS or TCS so I'm not complaining.
 
If your SRS light is on and you have DTC code 5-1 you can try this yourself:

1. Clear the SRS light via the MES connector.
2. When you start the car, turn the ignition to the II position and wait for the 6 second SRS self-test to complete before turning the key to III to engage the starter motor.

If your SRS unit is like mine, as long as you remember not to start the engine until the 6 second test is complete, then the SRS light will turn itself off and stay off. If you forget to wait until the 6 seconds are up and if the SRS light comes back on, then you will have to use the MES procedure to clear the light before you start the experiment over again.
I know this is an ancient thread, just wanted to say thanks for this! I have an older CRV 2002, and this is working for me. I suspected the battery was a bit worn, but it still starts the car fine!

The 5-1 code came after I initially cleared a 15-1 code by following the service manual ... which lead to a missing fuse (don't remember the number, it's for the rear wiper).
 
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