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2013 F-150 XLT 4WD with 5L
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According to the manual;

Diagnostic Trouble Codes (DTCs) P0133 and P0153 indicate the response rate of the upstream HO2S(s) is below some calibrated window. The test measures the HO2S amplitude and output frequency. This is accomplished by superimposing a 1.5 to 2.5 Hz square wave over Lambse. The HO2S switching is monitored during this time to see if the calibration limit is met.

DTC/HO2S Reference List:

DTC P0133 = HO2S-11
DTC P0153 = HO2S-21

Possible causes:

Contaminated HO2S.
Exhaust leaks.
Shorted/open wires.
Improper fueling.
MAF sensor.
Deteriorating HO2S.
Air leaks.

Here is a location drawing:


1 Muffler and Tailpipe Assembly
2 Muffler Inlet Pipe (Not Used on 119.9 in Wheelbase)
3 LH Downstream Catalyst Monitor Sensor (CMS)
4 LH Three Way Catalytic Converter (TWC)
5 LH Upstream Heated Oxygen Sensor (HO2S)
6 RH Upstream Heated Oxygen Sensor (HO2S)
7 RH Three Way Catalytic Converter (TWC)
8 RH Downstream Catalyst Monitor Sensor (CMS)
 
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