DESCRIPTION
If the steering control ECU or steering actuator is replaced, or if the tie-rod ends are adjusted, VGRS system calibration is required. If the steering control ECU detects that steering angle adjustment is incomplete, it will store DTC C1591/51.
| DTC No. | DTC Detection Condition | Procedure |
|---|---|---|
| C1591/51 | The steering control ECU detects that steering angle adjustment is incomplete | There is no malfunction if this DTC is not output again after performing VGRS system calibration. |
The steering control ECU first checks the actuator angle neutral position calibration flag after entering test mode. If the ECU detects that steering actuator angle neutral position calibration is incomplete twice, it will store DTC C1592/52.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C1592/52 | The steering control ECU detects that steering actuator angle neutral position calibration is incomplete twice | Steering actuator Steering control ECU |
If the steering control ECU detects a steering actuator standard position error, it will store DTC C1593/53.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C1593/53 | The steering control ECU detects a steering actuator standard position error | Steering actuator |
Signal transmission between the steering control ECU and steering angle sensor is performed via serial communication.
If an error occurs between them in serial communication, the ECU will store DTC C1595/55.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C1595/55 | The steering control ECU detects an error in serial communication between the ECU and steering angle sensor | Steering angle sensor Wire harness Steering control ECU |
| C15C4/68 | A steering signal indicating a tire angle of 36° or more (to the left or right) is input after transfer to test mode* | Steering angle sensor Wire harness Steering control ECU |
HINT
*: A tire angle of 36° and a motor rotation angle of 36° correspond to the steering wheel angle. The amount of change in tire angle and motor rotation angle is from when the mode is changed to test mode.
Scheme 24
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- CHECK DTC (CAN COMMUNICATION SYSTEM) Check for DTCs in the CAN communication system. Refer to «DIAGNOSIS SYSTEM»(ref-387091-S28049162972011022400000) . RESULT Result Proceed to DTC is not output A DTC is output B B --> GO TO THE APPROPRIATE CAN COMMUNICATION SERVICE INFORMATION. Refer to «HOW TO PROCEED WITH TROUBLESHOOTING»(ref-387091-S07682503522011022400000) . A: Go to next step
- CHECK STEERING ANGLE SENSOR Check that a steering angle sensor with the specified part number is installed. Standard A steering angle sensor with the specified part number (89245-30070) is installed. NG --> REPLACE STEERING ANGLE SENSOR OK: Go to next step
- CHECK WIRE HARNESS (STEERING CONTROL ECU - STEERING ANGLE SENSOR) Turn the power switch OFF. Disconnect the K70 steering control ECU connector. Disconnect the K19 steering angle sensor connector. Measure the resistance of the wire harness side connectors. Standard resistance Tester Connection Specified Condition K70-10 (SS1-) - K19-7 (SS1-) Below 1 ohms K70-19 (SS1+) - K19-8 (SS1+) Below 1 ohms K70-19 (SS1+) - Body ground 10 kohms or higher K70-10 (SS1-) - Body ground 10 kohms or higher K70-19 (SS1+) - K70-10 (SS1-) 10 kohms or higher NG --> REPAIR OR REPLACE HARNESS OR CONNECTOR OK: Go to next step
- CHECK STEERING ANGLE SENSOR Disconnect the K70 steering control ECU connector. HINT: The resistance must be measured after the steering angle sensor connector is connected. Adjust the shift lever to neutral. Jack up the vehicle. Turn the power switch ON (IG). Check the waveform of the steering angle sensor using an oscilloscope. Standard voltage Tester Connection Condition Specified Condition K70-19 (SS1+) - K70-10 (SS1-) Power switch ON (IG), rotate steering wheel slowly Pulse generation (0 <----> 5 V) HINT: The output voltage should fluctuate up and down similarly to the diagram when the wheel is turned slowly. NG --> REPLACE STEERING ANGLE SENSOR OK --> REPLACE STEERING CONTROL ECU
The steering control ECU receives signals from the power steering ECU via local CAN communication.
If the steering control ECU cannot receive signals from the power steering ECU correctly via local CAN communication, it will store DTC C1597/57.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C1597/57 | The steering control ECU detects a reception error of signals from the power steering ECU via local CAN communication | CAN communication system (Local CAN) Power steering ECU Steering control ECU |
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Scheme 28
- CHECK WIRE HARNESS (STEERING CONTROL ECU - POWER STEERING ECU) Disconnect the A40 steering control ECU connector. Disconnect the A23 the power steering ECU connector. Measure the resistance of the wire harness side connectors. Standard resistance Tester Connection Specified Condition A40-4 (CAN+) - A23-1 (CAN+) Below 1 ohms A40-9 (CAN-) - A23-8 (CAN-) Below 1 ohms A40-4 (CAN+) - A40-9 (CAN-) 10 kohms or higher NG --> REPAIR OR REPLACE HARNESS OR CONNECTOR OK: Go to next step
- REPLACE POWER STEERING ECU Replace the power steering ECU. Check for DTCs in the steering control ECU. Refer to «DTC CHECK / CLEAR»(ref-386975-S17151165742011022400000) . Result Result Proceed to DTCs is not output OK C1597/57 is output NG NG --> REPLACE STEERING CONTROL ECU OK --> END
The steering control ECU drives the actuator while the steering wheel is turned to set the gear ratio. It detects the current flowing into the actuator motor driving circuit.
If the steering control ECU detects excessive current, it will store this DTC C15A1/61, turn on the master warning light, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15A1/61 | Excessive current (exceeding the estimated amount) flows due to a malfunction in the motor drive circuit. | Wire harness Steering actuator Steering control ECU |
Scheme 29
The steering control ECU drives the actuator based on steering angle sensor signals and vehicle speed signals.
If the steering control ECU detects excessive current flowing into the steering actuator, or an internal malfunction, it will turn on the master warning light, store DTC C15A2/62, and stop VGRS operation.
If the steering control ECU detects a malfunction in the pre driver circuit, it will turn the master warning light on, store DTC C15A6/62, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15A2/62 | The VGRS system detects a malfunction in the motor drive circuit | Wire harness Power source circuit Steering actuator Steering control ECU |
| C15A6/62 | The actual motor current value greatly differs from the estimated value | Power source circuit Wire harness Steering actuator Steering control ECU |
Scheme 30
The steering actuator drives the internal motor using the current output from the steering control ECU to change the relative angle between tire angle and steering wheel angle.
The rotation angle sensor in the steering actuator detects the motor rotation angle and outputs this information to the steering control ECU.
If the steering control ECU detects a malfunction in the rotation angle sensor circuit, it will store DTC C15A3/63.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15A3/63 | The steering control ECU detects a malfunction in the rotation angle sensor circuit | Wire harness Steering actuator Steering control ECU |
| C15C5/69 | A steering signal indicating a motor rotation angle of 36° or more (to the left or right) is input after transfer to test mode* | Wire harness Steering actuator Steering control ECU |
HINT
*: A tire angle of 36° and a motor rotation angle of 36° correspond to the steering wheel angle. The amount of change in tire angle and motor rotation angle is from when the mode is changed to test mode.
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- CHECK WIRE HARNESS (STEERING CONTROL ECU - STEERING ACTUATOR) Turn the power switch OFF. Disconnect the K70 steering control ECU connector. Disconnect the K26 steering actuator connector. Measure the resistance of the wire harness side connectors. Standard resistance Tester Connection Specified Condition K70-4 (S1) - K26-2 (S1+) Below 1 ohms K70-6 (RV) - K26-1 (RV+) Below 1 ohms K70-14 (S2) - K26-9 (S2+) Below 1 ohms K70-15 (RG) - K26-10 (RG+) Below 1 ohms K70-4 (S1) - K70-6 (RV) 10 kohms or higher K70-4 (S1) - K70-14 (S2) 10 kohms or higher K70-4 (S1) - K70-15 (RG) 10 kohms or higher K70-6 (RV) - K70-14 (S2) 10 kohms or higher K70-6 (RV) - K70-15 (RG) 10 kohms or higher K70-14 (S2) - K70-15 (RG) 10 kohms or higher K70-4 (S1) - Body ground 10 kohms or higher K70-6 (RV) - Body ground 10 kohms or higher K70-14 (S2) - Body ground 10 kohms or higher K70-15 (RG) - Body ground 10 kohms or higher NG --> REPAIR OR REPLACE HARNESS OR CONNECTOR OK: Go to next step
- CHECK STEERING ACTUATOR Disconnect the K70 steering control ECU connector. HINT: The resistance must be measured after the steering actuator connector is connected. Measure the resistance of the wire harness side connectors. Standard resistance Tester Connection Specified Condition K70-4 (S1) - K70-6 (RV) Below 100 ohms K70-4 (S1) - K70-14 (S2) Below 100 ohms K70-4 (S1) - K70-15 (RG) Below 100 ohms K70-6 (RV) - K70-14 (S2) Below 100 ohms K70-6 (RV) - K70-15 (RG) Below 100 ohms K70-14 (S2) - K70-15 (RG) Below 100 ohms K70-4 (S1) - Body ground 10 kohms or higher K70-6 (RV) - Body ground 10 kohms or higher K70-14 (S2) - Body ground 10 kohms or higher K70-15 (RG) - Body ground 10 kohms or higher NG --> REPLACE STEERING ACTUATOR OK --> REPLACE STEERING CONTROL ECU
When the VGRS system is normal, the steering actuator conducts current from the steering control ECU to the steering actuator solenoid to release the lock mechanism, enabling motor operation.
The steering actuator does not operate under either of the following conditions
- The engine is off.
- The motor in the actuator is locked by the lock mechanism to prevent rotation (fail-safe function).
- The system is being protected from overheating (fail-safe function).
If the steering control ECU detects a malfunction in the steering actuator lock mechanism or a motor rotation angle error, it will store these DTCs.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15A4/64 | The steering control ECU detects that the difference between the actuator target angle and the actuator position is approximately 30° or more for 1 second | Steering actuator |
| C15A9/66 | The steering control ECU detects that the lock pin is not aligned with the lock holder correctly | Steering actuator |
| C15AA/66 | The steering control ECU cannot operate because the actuator lock cannot be released | Steering actuator |
| C15AB/66 | The steering control ECU detects that the lock pin cannot be inserted into the lock holder | Steering actuator |
If the steering control ECU detects a malfunction in the lock mechanism, it will turn the master warning light on, store the DTC C15A5/65, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15A5/65 | The steering control ECU detects that the LG terminal voltage is abnormal | Wire harness Steering actuator Steering control ECU |
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- CHECK WIRE HARNESS (STEERING CONTROL ECU - STEERING ACTUATOR) Turn the power switch OFF. Disconnect the K70 steering control ECU connector. Disconnect the K26 steering actuator connector. Measure the resistance of the wire harness side connectors. Standard resistance Tester Connection Specified Condition K70-3 (LV) - K26-7 (LV+) Below 1 ohms K70-12 (LG) - K26-16 (LG+) Below 1 ohms K70-3 (LV) - Body ground 10 kohms or higher K70-12 (LG) - Body ground 10 kohms or higher Turn the power switch ON (IG). Measure the voltage of the wire harness side connector. Standard voltage Tester Connection Specified Condition K70-3 (LV) - Body ground Below 1 V K70-12 (LG) - Body ground Below 1 V NG --> REPAIR OR REPLACE HARNESS OR CONNECTOR OK: Go to next step
- CHECK STEERING ACTUATOR Turn the power switch OFF. Disconnect the K70 steering control ECU connector. Measure the resistance of the steering actuator. Standard resistance Tester Connection Specified Condition K26-7 (LV+) - K26-16 (LG+) 10 to 100 ohms K26-7 (LV+) - Body ground 10 kohms or higher K26-16 (LG+) - Body ground 10 kohms or higher NG --> REPLACE STEERING ACTUATOR OK --> REPLACE STEERING CONTROL ECU
If the steering control ECU detects an internal malfunction, it will turn the master warning light on, store these DTCs, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15B1/71 | The steering control ECU detects an internal malfunction | Steering control ECU |
| C15B2/72 | The steering control ECU detects an internal malfunction | Steering control ECU |
| C15B3/73 | The steering control ECU detects an internal temperature error | Steering control ECU |
If the steering control ECU detects an internal malfunction, it will turn the master warning light on, store DTCs C15B4/71, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15B4/71 | The steering control ECU detects an internal malfunction | Steering control ECU |
The steering control ECU detects a steering angle sensor malfunction by receiving an error signal from the steering angle sensor via CAN communication. If the steering control ECU detects this error signal, it will turn the master warning light on, store these DTCs, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15C1/74 | The steering control ECU receives a steering angle sensor malfunction signal via CAN communication | Steering angle sensor CAN communication system Steering control ECU |
| C15C2/74 | The steering control ECU receives a B+ open circuit signal from the steering angle sensor via CAN communication | Steering angle sensor CAN communication system Steering control ECU |
Scheme 36
The steering control ECU detects a vehicle speed error by receiving an error signal from the skid control ECU via CAN communication.
If the steering control ECU detects this error signal, it will turn the master warning light on, store this DTC, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15C3/75 | The steering control ECU receives a vehicle speed error signal via CAN communication. | Skid control ECU CAN communication system Steering control ECU |
The steering control ECU monitors IG power supply voltage.
If the steering control ECU detects a malfunction, it will turn on the master warning light, store DTC C15C6/77, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15C6/77 | The steering control ECU detects that the battery voltage is normal and the IG terminal voltage is less than 4 V for 6 seconds | ECU-IG LH fuse IG circuit Charging system Steering control ECU |
Scheme 37
The steering control ECU monitors PIG (motor power source voltage) and detects a malfunction in the power supply relay (located inside the steering control ECU).
If the steering control ECU detects a malfunction, it will turn on the master warning light, store these DTCs, and stop VGRS operation.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| C15C7/78 | The steering control ECU detects that the IG terminal voltage is between 9 and 16 V, and the PIG terminal voltage is less than 7 V or more than 18.5 V for 2.4 seconds | VGRS fuse Wire harness Power source circuit Steering control ECU |
| C15C8/79 | The steering control ECU detects a malfunction in the power source relay or an open circuit | VGRS fuse Wire harness Steering control ECU |
Scheme 38
The steering control ECU receives signals from the skid control ECU, yaw rate (deceleration) sensor, steering angle sensor and power steering ECU via CAN communication. When DTCs indicating a CAN communication system malfunction are output, repair the CAN communication system first.
| DTC No. | DTC Detection Condition | Trouble Area |
|---|---|---|
| U0122/56 | The steering control ECU detects an error in reception (from skid control ECU) via CAN communication | CAN communication system Skid control ECU |
| U0123/56 | The steering control ECU detects an error in reception (from yaw rate (deceleration) sensor) via CAN communication | CAN communication system Yaw rate (deceleration) sensor |
| U0126/56 | The steering control ECU detects an error in reception (from steering angle sensor) via CAN communication | CAN communication system Steering angle sensor |
| U0131/56 | The steering control ECU detects an error in reception (from power steering ECU) via CAN communication | CAN communication system Power steering ECU |
If the steering control ECU detects that VGRS system has a malfunction, warning information is transmitted to the combination meter via CAN and BEAN.
The combination meter will turn the master warning light on based on this information.
Warning information is transmitted via the following route
- Steering control ECU --> (CAN) --> Power steering ECU --> (CAN) --> Gateway ECU --> (BEAN) --> Combination meter
Connecting terminals TC and CG of the DLC3 makes the master warning light blink and outputs DTCs.
