1. On level ground, jack up the vehicle and support it evenly on safety stands.
2. Drain the oil from the transaxle.
3. Remove the front wheels and splash shields.
4. Separate the drive shaft and joint shaft from the transaxle. (See DRIVE SHAFT REMOVAL/INSTALLATION.) (See JOINT SHAFT REMOVAL/INSTALLATION.)
5. Remove the oil seals using a screwdriver.

6. Using the SST
and a hammer, tap each new oil seal in evenly until the SST
contacts the transaxle case.

7. Coat the lip of each oil seal with transaxle oil.
8. Insert the drive shaft and joint shaft to the transaxle. (See DRIVE SHAFT REMOVAL/INSTALLATION.) (See JOINT SHAFT REMOVAL/INSTALLATION.)
9. Install the wheels and splash shields.
10. Add the specified amount and type of oil. (See TRANSAXLE OIL REPLACEMENT.)
Transaxle oil replacement
Vehicle speedometer sensor removal/installationMazda 6 Service Manual: Scheduled Maintenance (U.S.A., Canada, and Puerto Rico)
Follow Schedule 1 if the vehicle is operated mainly where none of the following
conditions (severe driving conditions) apply.
Repeated short-distance driving
Driving in dusty conditions
Driving with extended use of brakes
Driving in areas where salt or other corrosive materials are used
...
Mazda 6 Service Manual: Abs (abs/tcs) hu/cm system inspection
System Inspection
Preparation
1. Verify that the battery is fully charged. With the ignition switch on,
verify that the ABS and BRAKE system warning lights goes out after 2.4
seconds.
2. If the lights stays on after 2.4 seconds, the ABS (ABS/TCS) HU/CM
detects a failure. Follow the troubles ...