Code P0017 now idle is rough ok when.

DTC P0017

CIRCUIT DESCRIPTION
The powertrain control module (PCM) uses the crankshaft position (CKP) sensor and the camshaft position (CMP) sensor information to monitor the correlation between the crankshaft and camshaft positions. If the deviation between the crankshaft and CMP exceeds a calibrated amount, DTC P0017 will set.

DTC DESCRIPTOR
This diagnostic procedure supports the following DTC:
DTC P0017 Crankshaft Position (CKP) Exhaust - Camshaft Position (CMP) Correlation

CONDITIONS FOR RUNNING THE DTC

The engine is running.
The CMP actuator is commanded to zero for 16 seconds.
DTC P0017 runs continuously when the above conditions are met.

CONDITIONS FOR SETTING THE DTC

The deviation between the crankshaft and the camshaft positions exceeds a calibrated amount.
The above condition is met for 4 seconds.

ACTION TAKEN WHEN THE DTC SETS

The control module illuminates the malfunction indicator lamp (MIL) on the second consecutive ignition cycle that the diagnostic runs and fails.
The control module records the operating conditions at the time the diagnostic fails. The first time the diagnostic fails, the control module stores this information in the Failure Records. If the diagnostic reports a failure on the second consecutive ignition cycle, the control module records the operating conditions at the time of the failure. The control module writes the operating conditions to the Freeze Frame and updates the Failure Records.

CONDITIONS FOR CLEARING THE MIL/DTC

The control module turns OFF the malfunction indicator lamp (MIL) after 3 consecutive ignition cycles that the diagnostic runs and does not fail.
A current DTC, Last Test Failed, clears when the diagnostic runs and passes.
A history DTC clears after 40 consecutive warm-up cycles, if no failures are reported by this or any other emission related diagnostic.
Clear the MIL and the DTC with a scan tool.

DIAGNOSTIC AIDS
The following conditions may cause this DTC to set:

An improperly torqued crankshaft balancer
A mis-built or mis-timed engine
A loose or missing crankshaft balancer bolt
The CMP actuator solenoid stuck open
The CMP actuator stuck in a position other than 0 degrees