DTC Advanced Diagnostics: EPS related DTCs
EPS Related DTCs
NOTE
Initial Diagnosis:
The initial on-board diagnosis occurs right after the vehicle condition is turned to the ON mode, and the EPS indicator comes on, and continues until the indicator goes off.
Regular Diagnosis:
The regular on-board diagnosis begins right after the EPS indicator goes off, and it continues until the vehicle condition is turned to the OFF (LOCK) mode.
Review "How to troubleshoot the EPS system" before doing the DTC troubleshooting procedure.
Test-drive the vehicle according to local traffic conditions and regulations. Do not test-drive on a lift unless specified.
The possible causes shown may not be a complete list of all potential problems, and it is possible that there may be other causes.
DTC 11-02: Control Unit Power Supply Voltage
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 15 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 15 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist (Fade out)
(Continue system diagnosis: EPS function/assist will return to normal after the voltage returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open or Poor connection between the EPS control unit and the under-dash fuse/relay box
(IG1 ABS/VSA line)
IG1 ABS/VSA line connected to high voltage
Blown fuse (Under-dash fuse/relay box No. B24 (7.5 A))
Abnormal 12 volt battery
Alternator failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 12-01: Motor Power Supply Voltage
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist (Fade out)
(EPS function/assist will return to normal after the voltage returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open or Poor connection between the EPS control unit and the under-hood fuse/relay box
(+B EPS line)
+B EPS line connected to high voltage
Blown fuse (Under-hood fuse/relay box No. A1-1 (70 A))
Abnormal 12 volt battery
Alternator failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 21-03: CAN Vehicle Speed Stuck ON
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 5 minutes.
3.
Drive engine speed at over 2,500 rpm, and turn the steering wheel left and right for more than 60 seconds.
(Be careful of surrounding traffic conditions)
Execution
Regular Diagnosis
Duration
About 60 seconds
DTC Type
1 drive cycle
EPS indicator on (60 seconds after failure detection)
Fail Safe Action
Continue EPS function/assist (Alternative assist)
(Continue system diagnosis: EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to another line, or Poor connection between the PCM and the CVT speed sensor (VCC, VEL DD, SG lines)
Gauge control module internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 22-01: Engine Speed Signal
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 2 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 2 seconds
DTC Type
1 drive cycle
EPS indicator off
Fail Safe Action
Continue EPS function/assist (Alternative assist)
(EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and the PCM (NEP line)
PCM program not the latest
PCM internal failure
EPS control unit internal failure

DTC 23-01: CAN Data Stuck ON
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
-
DTC Type
1 drive cycle
EPS indicator on (Gauge control module turns the EPS indicator on when it loses communication with the EPS control unit)
Fail Safe Action
Continue EPS function/assist (Alternative assist)
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 23-02: CAN Vehicle Speed Data
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 60 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 60 seconds
DTC Type
1 drive cycle
EPS indicator on (Depending on the failure, 60 seconds after failure detection)
Fail Safe Action
Continue EPS function/assist (Alternative assist)
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and other control units (F-CAN_H, F-CAN_L lines)
PCM program not the latest
PCM internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 23-03: CAN Engine Speed Data
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 60 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 60 seconds
DTC Type
1 drive cycle
EPS indicator on/off (Dependant upon the conditions)
Fail Safe Action
Continue EPS function/assist
(Continue system diagnosis: EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and other control units (F-CAN_H, F-CAN_L lines)
PCM program not the latest
PCM internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 23-04: CAN Bus-Off Malfunction
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 2 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 2 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Continue EPS function/assist (Alternative assist)
(Continue system diagnosis: EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to another line, or Poor connection between the EPS control unit and other control units (F-CAN_H, F-CAN_L lines)
EPS control unit program not the latest
EPS control unit internal failure

DTC 32-09: Motor Current Correlation
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open or Poor connection between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS control unit program not the latest
EPS control unit internal failure

DTC 32-0B: Over Current
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Short to ground between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS motor internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 32-0C: Battery Current Detect Circuit
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 2 seconds.
Execution
Initial Diagnosis
Duration
About 2 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Continue system diagnosis: Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 32-0E: Over Current Continuation
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Short to ground between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS control unit program not the latest
EPS control unit internal failure

DTC 32-0F: Battery Current/Motor Current Correlation
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 34-01: Power Relay
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the vehicle to the OFF (LOCK) mode.
3.
Wait for more than 15 seconds.
4.
Turn the vehicle to the ON mode.
Execution
After the vehicle condition is turned to the OFF (LOCK) mode
Duration
About 15 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 34-02: Fail-Safe Relay
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Short to ground between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-02: EPS Control Unit Internal Circuit (EEPROM1)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
-
DTC Type
1 drive cycle
EPS indicator off
Fail Safe Action
Continue EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-04: EPS Control Unit Internal Circuit (CPU Communication)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-05: EPS Control Unit Internal Circuit (A/D Conversion)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-07: EPS Control Unit Internal Circuit (INHL/INHR Ports)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-08: EPS Control Unit Internal Circuit (EEPROM2)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Drive for a while.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
-
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Continue EPS function/assist (Alternative assist: Decrease assist force) or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 35-0A: EPS Control Unit Internal Circuit (CPU Operation)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and the steering gearbox (RESOLVER R1, R2, S1, S2, S3, S4 lines)
EPS motor internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 36-02: EPS Control Unit Internal Circuit (INH Output Circuit)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS control unit program not the latest
EPS control unit internal failure

DTC 37-01: EPS Control Unit Internal Circuit (Step-Up Circuit)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 38-01: EPS Control Unit Internal Circuit (Temperature Sensor)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 10 seconds.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 10 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Continue EPS function/assist (Alternative assist: Decrease assist force)
(EPS function/assist will return to normal after the voltage returns to normal or re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 39-01: EPS Control Unit Internal Circuit (Precharge Circuit)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 10 seconds.
Execution
Initial Diagnosis
Duration
About 10 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 39-03: EPS Control Unit Internal Circuit (Power Self-Holding Circuit)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the vehicle to the OFF (LOCK) mode.
3.
Wait for more than 30 seconds.
4.
Turn the vehicle to the ON mode.
Execution
After the vehicle condition is turned to the OFF (LOCK) mode
Duration
About 30 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-01: Torque Sensor Allowable Tolerance (Initial Diagnosis)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Short to power between the EPS control unit and the steering gearbox (VS1, VS2, PVF, TRQ SUB, TRQ SE lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-02: Torque Sensor Power Supply (Initial Diagnosis)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Short to power between the EPS control unit and the steering gearbox (VS1, PVF lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-03: Main Torque Sensor
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist (Fade out)
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Short to power between the EPS control unit and the steering gearbox (VS1, VS2, PVF, TRQ SE lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-04: Sub Torque Sensor
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist (Fade out)
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Short to power between the EPS control unit and the steering gearbox (VS1, VS2, PVF, TRQ SUB, TRQ SE lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-05: Torque Sensor Allowable Tolerance
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist (Fade out)
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Short to power between the EPS control unit and the steering gearbox (VS1, VS2, PVF, TRQ SUB, TRQ SE lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-06: Torque Sensor Offset Out of Range
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist (Fade out)
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Short to power between the EPS control unit and the steering gearbox (VS2, TRQ SUB lines)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 52-08: Torque Sensor Power Supply
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or EPS function/assist fade out
(Re-diagnose at the next IG-ON)
Possible Cause
Short to ground or Short to power between the EPS control unit and the steering gearbox
(PVF line)
Steering gearbox internal failure (Torque sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 61-04: Motor Harness Malfunction
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open, or Poor connection between the EPS control unit and the EPS motor (MTR U, MTR V, MTR W lines)
EPS motor internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 61-05: Motor Harness Short
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Short to ground or Short to power between the EPS control unit and the EPS motor
(MTR U, MTR V, MTR W lines)
EPS motor internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 61-06: Motor Harness Open
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open or Short to ground between the EPS control unit and the EPS motor
(MTR U, MTR V, MTR W lines)
EPS motor internal failure
EPS control unit program not the latest
EPS control unit internal failure

DTC 71-01: Motor Angle Sensor (SIN/COS Signals)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait until the EPS indicator goes off.
3.
Turn the steering wheel lock-to-lock more than 5 times.
Execution
Initial Diagnosis/Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist or stops EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, or Poor connection between the EPS control unit and the steering gearbox (RESOLVER R1, R2, S1, S2, S3, S4 lines)
EPS motor internal failure (EPS motor angle-sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 71-02: Motor Angle Sensor (Neutral Position Learning of SIN/COS)
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second.
Execution
Initial Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Does not start EPS function/assist
(Re-diagnose at the next IG-ON)
Possible Cause
Open, Short to ground, Short to power, or Poor connection between the EPS control unit and the steering gearbox (RESOLVER R1, R2, S1, S2, S3, S4 lines)
EPS motor internal failure (EPS motor angle-sensor)
EPS control unit program not the latest
EPS control unit internal failure

DTC 81-03: Yaw Rate Sensor Malfunction
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second after the EPS indicator goes off.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop motion adaptive EPS function
(Re-diagnose at the next IG-ON)
Possible Cause
VSA modulator-control unit program not the latest
VSA modulator-control unit internal failure (Yaw rate-acceleration sensor)

DTC 83-01: CAN Communication Failure
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 60 seconds after the EPS indicator goes off.
Execution
Regular Diagnosis
Duration
About 60 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop motion adaptive EPS function
(EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to another wire, or Poor connection between the EPS control unit and other control units (F-CAN_H, F-CAN_L lines)
EPS control unit program not the latest
EPS control unit internal failure
Internal failure of VSA modulator-control unit on F-CAN
Internal failure of steering angle sensor on F-CAN

DTC 83-02: CAN Communication Timeout Error
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 60 seconds after the EPS indicator goes off.
Execution
Regular Diagnosis
Duration
About 60 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop motion adaptive EPS function
(EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
Open, Short to another wire, or Poor connection between the EPS control unit and other control units (F-CAN_H, F-CAN_L lines)
EPS control unit program not the latest
EPS control unit internal failure
Internal failure of VSA modulator-control unit on F-CAN
Internal failure of steering angle sensor on F-CAN

DTC 84-01: Steering Angle Sensor Malfunction
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 1 second after the EPS indicator goes off.
Execution
Regular Diagnosis
Duration
About 1 second
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop motion adaptive EPS function
(Re-diagnose at the next IG-ON)
Possible Cause
Steering angle sensor incorrectly installed
Steering angle sensor internal failure

DTC 85-01: VSA System Malfunction
Confirmation Procedure
Basic Condition:
12 volt battery voltage 10 - 16 V

Operating Condition:
1.
Start the engine.
2.
Wait for more than 30 seconds after the EPS indicator goes off.
Execution
Regular Diagnosis
Duration
About 30 seconds
DTC Type
1 drive cycle
EPS indicator on
Fail Safe Action
Stop motion adaptive EPS function
(EPS function/assist will return to normal after the signal returns to normal or re-diagnose at the next IG-ON)
Possible Cause
VSA related failure (Check for VSA system DTCs)
VSA modulator-control unit program not the latest
VSA modulator-control unit failure