Hyundai's diagnostic routines are very poor and are often not even present.
You'll want to base your diagnostics off the schematic for the vehicle
speed sensor (in body electrical section).
At the vehicle speed sensor connector, you should have power in the pink
wire (key on) and ground in the black/white wire. When the wheels are
turning (speed sensor plugged in), you should have a square wave in the
brown wire. The frequency of the wave should vary with wheel speed.
To remove the sensor and gear assembly, remove the 10mm bolt attaching it
to the transmission. Then, twist back and forth while lifting out of the
I've had cases where the speed sensor broke during removal attempts. This
is yet another reason why, if you've determined you have no signal from the
sensor, I recommend just replacing the sensor and gear. This cures over
90% of speedometer inop issues.
Once you remove the sensor, you'll have the sensor and gear out of the
transmission. Check the plastic gear. If the teeth are damaged--
usually, the center portion of the teeth is worn-- you'll need a new gear.
To remove the gear from the sensor, simply remove the clip holding the
gear onto the sensor.