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The tensioner should adjust and take the correct belt and tension it correctly. The reasons for belts coming off and worn / loose belt, wrong belt, tensioner not working, or incorrect belt alignment.
Yes you can absolutely replace providing you know what you're doing. You have to put a socket with long breaker bar on the tensioner and wrap new belt around pulleys then release tensioner to keep belt tight. A serpentine belt runs everything with a pulley.
Possibly the tensioner pulley is worn out and needs replaced. It should have wear limit marks on it, a maximum and minimum marking- the tensioner mark should fall between them.
The Belt Tensioner is probably crooked, it's hard to tell but if you look at it while the vehicle is running and it looks tilted even just a tiny bit, it will cause the belt to fall off. Belt Tensioner.
1
Check to ensure the Sienna's engine is cold, then make sure
the Sienna is in park, the ignition is in the off position and the key
is removed from the ignition to prevent any possibility of the engine
engaging during the serpentine belt replacement.
2
Open the hood and locate the serpentine belt routing diagram
sticker on the side of the engine casing. Study it for a moment before
removing the existing belt. It is essential the new belt be installed
exactly as the diagram indicates.
3
Find the tensioner pulley, the main pulley that controls the
serpentine belt, and fit a 1/2-inch socket wrench over the
self-tensioner on the outside of the pulley.
4
Pull the wrench to the left to move the pulley forward, which loosens the belt, then remove the belt.
5
Compare the old serpentine belt with the new, replacement
belt for length, width and number of grooves on the belt's underside. Be
certain the replacement belt is the right part.
6
Fit the new belt on to each pulley according to the
serpentine belt routing diagram on the manufacturer's sticker, or
according to the drawing made prior to removing the old belt. Fit the
new belt on to the tensioner pulley last, again applying pressure on the
pulley's self-tensioner with the half-inch socket wrench to loosen the
pulley.
7
Release the pressure on the self tensioner and allow the
tensioner pulley to ease back into place, thereby tightening the new
serpentine belt with the appropriate tension.
Buy a replacement for about $40 at autozone or advance, if the serpentine belt has never been replaced get one of those too. Jack the front passenger wheel up and put a jackstand under it. Take off the tire and you will see a plastic service door in the wheel well, take that out too. You now see all the guts there. Now get a long wrench put it on the tensioner bolt and use it to relieve tension, pull off the belt, unbolt the tensioner, put the new tensioner in tightening bolts firmly. Put the new belt on, use some leverage on the tensioner to allow you to put the belt on the tensioner and you are done. While you are in there you may want to replace the right side dog bone motor mount which will also be right in front of you.
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