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The check engine light is because the EGR 'lift sensor' is showing that the valve is not lifting when it should be, or it is indicating the sensor is open, or the voltage is out of range the lift sensor may be bad, or it's not lifting when it should be (vacuum leak, vacuum switch leak upstream) EGR normally does not activate at idle, or engine will stall (as you have seen). clear the codes, then hook up a vacuum gauge when driving the car. Once the car is warmed up, there should be vacuum at the egr valve at part throttle. If not, the upstream vacuum switch is faulty or vacuum is leaking out somewhere. See the following tips on Mazda egr systems: http://www.asashop.org/autoinc/sept2002/techtips.cfm

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Q: 1996 Mazda Millenia check engine light shows egr codes using vacuum tester and pulling vacuum on EGRr valve kills engine Checking egr solenoids vacuum Vent what will turn on the check engine light?
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