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Having a year/engine/drivetrain for your D21 would be helpful. In general, a vehicle speed sensor is an AC voltage generator. It generates approximately 1 volt (AC) for every 10 MPH. Two wires connect it (and carry the signal) to the back of the speedometer cluster. The speedometer head then converts the voltage and transmits the information to the ECM. Ideally, an oscilloscope would be used to test the signal, as it would show the presence of a clean sine wave signal. Since you probably don't have one, a multimeter can be used in the AC voltage function. If you raise the wheels off of the ground, you can run the leads to the VSS (vehicle speed sensor) terminals in its harness plug. As the speed raises, you will see the voltage rise. This method will at least let you know if the VSS is generating a signal. If it is, then reconnect the VSS harness connector to the main harness and pull the instrument cluster. You can now attach the leads to the appropriate screw heads (of the four that attach the speedo head to the back of the cluster/printed circuit). If you have a signal here, you likely have a bad speedo head (if the speedometer is not working). If no signal, you'll have to check the two wires between the head and the VSS for continuity. If the speedometer is working and you are generating a code, still, you may have to do circuit checks between the speedo head and the ECM. Not likely, but possible, is a bad ECM, but you'll have to isolate that as a possibility by doing some testing, first.
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