In general, if the engine seems to be operating normally the check engine light is just reporting something that affects pollution control. The exception is if the engine is running very rich, in which case the catalytic converter may be damaged by hard driving. If the fuel economy is known to be fairly normal you can drive freely, but if it is unknown or very low you should avoid demanding too much power, like full speed uphill on freeways.
Amber lights are advisory, red lights mean to get off the road and turn off the engine immediately.
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Why did the check engine light come on my 1995 toyota tercel?
Linear Mode
