DESCRIPTION
The VGRS ECU (front steering control ECU) receives signals from the ECM, TCM, skid control ECU (brake actuator assembly), yaw rate sensor, steering sensor and power steering ECU assembly via CAN communication. When DTCs indicating a CAN communication system malfunction are output, repair the CAN communication system first.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| U0100/56 | Lost Communication with ECM / PCM "A" | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). The signal from the ECM is lost. | ECM CAN communication system | Comes on | Engine switch on (IG) again |
| U0101/56 | Lost Communication with TCM | Both conditions are met for approximately 12 seconds or more: The engine switch is on (IG). The signal from the TCM is lost. | TCM CAN communication system | Comes on | Engine switch on (IG) again |
| U0125/56 | Lost Communication with Yaw Rate Sensor Module | Both conditions are met for approximately 12 seconds or more: The engine switch is on (IG). The signal from the yaw rate sensor is lost. | Yaw rate sensor CAN communication system | Comes on | Engine switch on (IG) again |
| U0126/56 | Lost Communication with Steering Angle Sensor Module | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). The signal from the steering sensor is lost. | Steering sensor CAN communication system | Comes on | Engine switch on (IG) again |
| U0129/56 | Lost Communication with Brake System Control Module | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). The signal from the skid control ECU (brake actuator assembly) is lost. | Skid control ECU (Brake actuator assembly) CAN communication system | Comes on | Engine switch on (IG) again |
| U0131/56 | Lost Communication with Power Steering Control Module | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). The signal from the power steering ECU assembly is lost. | Power steering ECU assembly CAN communication system | Comes on | Engine switch on (IG) again |
When the VGRS ECU (front steering control ECU) detects a problem with the power steering ECU assembly via CAN communication, this DTC is stored.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15CA/79 | EPS System Malfunction | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). Information regarding a power steering ECU assembly internal malfunction is received via CAN communication. | Power steering ECU assembly | Comes on | Engine switch on (IG) again |
The VGRS ECU (front steering control ECU) monitors terminal PIG (motor power source voltage) in order to detect malfunctions in the power supply relay (located inside the VGRS ECU (front steering control ECU)).
If the VGRS ECU (front steering control ECU) detects a malfunction, it turns the master warning light on, and stores these DTCs.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15C7/78 | DC Motor Power Source Voltage | Both conditions are met for approximately 2.4 seconds or more: The engine switch is on (IG). When the PIG voltage is 18.5 V or higher or 7 V or less, an open or short in the PIG circuit, or an internal malfunction in the ECU is detected. | VGRS fuse Battery Charging system VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
| C15C8/79 | Power Supply Relay Failure | All conditions are met for approximately 1.5 seconds or more: The engine switch is on (IG). Control has not started. An open / short in the PIG circuit or an internal malfunction in the ECU is detected. | VGRS fuse Battery Charging system VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
Scheme 83
The VGRS ECU (front steering control ECU) monitors the IG power supply voltage.
If the VGRS ECU (front steering control ECU) detects a malfunction, it turns the master warning light on, and stores DTC C15C6/77.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15C6/77 | IG Power Supply Voltage | Both conditions are met for approximately 3 seconds or more: The engine switch is on (IG). When the IG voltage is 4 V or less or 18.5 V or higher, an open or short in the IG circuit or an internal malfunction in the ECU is detected. | IG1 NO. 2 fuse Battery Charging system VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
Scheme 84
The VGRS ECU (front steering control ECU) detects a vehicle speed error by receiving an error signal from the skid control ECU (brake actuator assembly) via CAN communication.
If the VGRS ECU (front steering control ECU) detects this error signal, it turns the master warning light on, and stores this DTC.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15C3/75 | Brake System Control Module | All conditions are met: 3 seconds or more after the engine switch is turned on (IG). Power source voltage at 10 to 16 V. Information regarding a vehicle speed signal malfunction is received for approximately 3 seconds or more from the skid control ECU (brake actuator assembly) via CAN communication or there is a VDIM monitoring malfunction. | Skid control ECU (Brake actuator assembly) | Comes on | Engine switch on (IG) again |
| C15CB/84 | VSC System Malfunction | All conditions are met: 3 seconds or more after the engine switch is turned on (IG). Power source voltage at 10 to 16 V. Information regarding a skid control ECU (brake actuator assembly) internal malfunction is received 3 seconds or more via CAN communication. | Skid control ECU (Brake actuator assembly) | Comes on | Engine switch on (IG) again |
The VGRS ECU (front steering control ECU) detects a steering sensor malfunction by receiving an error signal from the steering sensor via CAN communication. If the VGRS ECU (front steering control ECU) detects this error signal, it turns the master warning light on, and stores these DTCs.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15C1/74 | Steering Angle Sensor | All conditions are met for approximately 3 seconds or more: 1 seconds or more after the engine switch is turned on (IG). Power source voltage at 10 to 16 V. Information regarding a steering sensor internal malfunction is received via CAN communication. | Steering sensor | Comes on | Engine switch on (IG) again |
| C15C2/74 | Steering Angle Sensor B+ | All conditions are met for approximately 2 seconds or more: 1 seconds or more after the engine switch is turned on (IG). Power source voltage at 10 to 16 V. Information regarding a steering sensor internal malfunction (+B open circuit) is received via CAN communication. | Steering sensor | Comes on | Engine switch on (IG) again |
If the VGRS ECU (front steering control ECU) detects an internal malfunction, it turns the master warning light on, and stores DTC C15B4/71.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15B4/71 | ECU Malfunction(Actuator Angle Record) | The memorized actuator angle value cannot be confirmed immediately after the engine switch is turned on (IG). | VGRS ECU (front steering control ECU) | Comes on | After clearing DTCs, perform actuator angle neutral point calibration. |
If the VGRS ECU (front steering control ECU) detects an internal malfunction, it turns the master warning light on, and stores these DTCs.
When DTC C15B3/73 is stored, the master warning light is not illuminated and the VGRS system continues to operate.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15B1/71 | ECU Malfunction(CPU) | When the engine switch is turned on (IG), the VGRS ECU (front steering control ECU) detects an internal malfunction. | VGRS ECU (front steering control ECU) | Comes on | Engine switch on (IG) again |
| C15B2/72 | ECU Malfunction(Internal Line) | When the engine switch is turned on (IG), the VGRS ECU (front steering control ECU) detects an internal malfunction. | VGRS ECU (front steering control ECU) | Comes on | Engine switch on (IG) again |
| C15B3/73 | ECU Malfunction(Substrate Temperature Sensor) | When the engine switch is turned on (IG), the VGRS ECU (front steering control ECU) detects an internal malfunction. | VGRS ECU (front steering control ECU) | Does not come on | Engine switch on (IG) again |
| C15B5/82 | ECU Malfunction(Flash Memory) | When the engine switch is turned on (IG), the VGRS ECU (front steering control ECU) detects an internal malfunction. | VGRS ECU (front steering control ECU) | Comes on | Engine switch on (IG) again |
| C15B6/83 | ECU Malfunction(EEPROM) | When the engine switch is turned on (IG), the VGRS ECU (front steering control ECU) detects an internal malfunction. | VGRS ECU (front steering control ECU) | Comes on | Engine switch on (IG) again |
If the VGRS ECU (front steering control ECU) detects a malfunction in the lock mechanism, it turns the master warning light on, and stores DTC C15A5/65.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15A5/65 | Lock Mechanism Circuit | Both conditions are met for approximately 0.025 seconds or more: The engine switch is on (IG). A short in the motor circuit or an internal malfunction in the ECU is detected. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
When the VGRS system is normal, the steering actuator assembly conducts current from the VGRS ECU (front steering control ECU) to the steering actuator solenoid to release the lock mechanism, enabling motor operation.
The steering actuator assembly does not operate under any of the following conditions
- The engine switch 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 VGRS ECU (front steering control ECU) detects a malfunction in the steering actuator lock mechanism or a motor rotation angle error, it stores these DTCs.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15A4/64 | Motor Rotation Angle Malfunction | After starting the engine, the "Actuator Target Angle" and "Actuator Angle" have a difference of 0.5 degrees or more for 1 second or more. | Steering actuator assembly | Comes on | Engine switch on (IG) again |
| C15A9/66 | Lock Holder Deviation Detection | After the engine switch is turned off, the lock pin is inserted with the steering wheel near the neutral position (within 90 degrees of 0), the "Actuator Angle" and "Deep Groove Electrical Angle Position" are at 40 degrees or more | Steering actuator assembly | Comes on | After clearing DTCs, perform actuator angle neutral point calibration. |
| C15AA/66 | Lock Mechanism Release Incomplete | After starting the engine, the "Motor q Axis Target Voltage" is 1.8 V or higher and 15 seconds or more elapse, or the "Motor q Axis Target Voltage" is 0.6 V or higher and 180 seconds or more elapse. | Steering actuator assembly | Comes on | After clearing DTCs, perform actuator angle neutral point calibration. |
| C15AB/66 | Lock Mechanism Insertion | After the engine switch is turned on (IG), when the motor is operating to confirm the lock pin insertion, the "Motor q Axis Target Voltage" is below 2 V. | Steering actuator assembly | Comes on | After clearing DTCs, perform actuator angle neutral point calibration. |
The steering actuator assembly drives the internal motor using the current output from the VGRS ECU (front steering control ECU) to change the relative angle between the tire angle and steering wheel angle.
The motor rotation angle sensor in the steering actuator assembly detects the motor rotation angle and outputs this information to the VGRS ECU (front steering control ECU).
If the VGRS ECU (front steering control ECU) detects a malfunction in the motor rotation angle sensor circuit, it stores DTC C15A3/63.
The test mode DTC C15C5/69 is only stored during test mode.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15A3/63 | Motor Rotation Angle Not Detected | All conditions are met for approximately 0.03 seconds or more: 2 seconds or more elapse after turning the engine switch on (IG). 2 seconds or more elapse with the power source voltage at 10 V or higher. A problem with the motor rotation angle sensor is detected. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
| C15C5/69 | Motor Rotation Signal Not Detected | The system enters test mode. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Test mode code |
Scheme 85
If the VGRS ECU (front steering control ECU) detects excessive current, it stores DTC C15A1/61, turns on the master warning light.
If the VGRS ECU (front steering control ECU) detects excessive current flowing into the steering actuator assembly or an internal malfunction, it turns the master warning light on, and stores DTC C15A2/62.
If the VGRS ECU (front steering control ECU) detects a malfunction in the motor drive circuit, it turns the master warning light on, and stores DTC C15A6/62.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C15A1/61 | Short in Motor Circuit | Either condition is met: After the engine switch is turned on (IG), a short in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 1.2 seconds or more before control starts. After the engine switch is turned on (IG), a short in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 0.03 seconds or more. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
| C15A2/62 | Open in Motor Circuit | Either condition is met: After the engine switch is turned on (IG), an open in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 1.2 seconds or more before control starts. After the engine switch is turned on (IG), an open in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 0.03 seconds or more. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
| C15A6/62 | Actuator Motor Power Distribution Malfunction | Either condition is met: After the engine switch is turned on (IG), an open in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 1.2 seconds or more before control starts. After the engine switch is turned on (IG), an open in the motor circuit or an internal ECU (motor drive circuit) malfunction continues for 0.03 seconds or more. | Steering actuator assembly VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
Scheme 86
Signal transmission between the VGRS ECU (front steering control ECU) and steering sensor is performed via serial communication.
If a serial communication error occurs between the VGRS ECU (front steering control ECU) and steering sensor, the ECU stores DTC C1595/55.
The test mode DTC C15C4/68 is only stored during test mode.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C1595/55 | Lost Communication with Steering Angle Sensor Module(SIL) | With the engine switch on (IG) and a power source voltage of 10 V or more, serial communication from the steering sensor is interrupted for 3 seconds or more. | Steering sensor VGRS ECU (front steering control ECU) Harness or connector | Comes on | Engine switch on (IG) again |
| C15C4/68 | Steering Signal Not Detected | The system enters test mode. | Steering sensor VGRS ECU (front steering control ECU) Harness or connector | Test mode code |
Scheme 87
If the VGRS ECU (front steering control ECU) detects a steering actuator standard position error, it stores DTC C1593/53.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C1593/53 | Actuator Standard Position | Lock holder deviation is detected when the neutral point calibration value is calculated during actuator angle neutral point calibration. | Steering actuator assembly | Comes on | Engine switch on (IG) again |
When the actuator angle is initialized or the VGRS ECU (front steering control ECU) is replaced (the VGRS ECU [front steering control ECU] determines that actuator angle neutral point calibration has not been performed), a DTC is stored.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C1591/51 | Actuator Neutral Position Calibration Undone | Actuator angle neutral calibration has not been performed. | There is no malfunction if this DTC is not output again after performing VGRS system calibration | Comes on | Perform actuator angle neutral point calibration. |
The VGRS ECU (front steering control ECU) first checks the actuator angle neutral point calibration flag after entering test mode. If the ECU detects that steering actuator angle neutral point calibration is incomplete twice, it stores DTC C1592/52.
| DTC No. | Detection Item | DTC Detection Condition | Trouble Area | Warning Indicate | Return-to-normal Condition |
|---|---|---|---|---|---|
| C1592/52 | Actuator Neutral Position Calibration Incomplete | The VGRS ECU (front steering control ECU) detects that steering actuator angle neutral point calibration is incomplete twice. | Steering actuator assembly VGRS ECU (front steering control ECU) | Comes on | After clearing DTCs, perform actuator angle neutral point calibration. |
See also:
• INSPECTION [04/2013 - ]