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PRECAUTION
1. TROUBLESHOOTING PRECAUTIONS
b. To specify the cause of the problem, check for DTCs or confirm vehicle operating conditions
when the problem occurred and note them down before disconnecting connectors or removing
parts.
c. Be sure to check for DTCs in other systems as the problem may be caused by a malfunction in
another system.
d. DTCs may be stored in the EPS and/or ECB systems due to VGRS system inspections. Check
for DTCs in the EPS and ECB systems and clear any output codes after inspecting the VGRS
system.
e. When the engine switch is turned on/off, system start-up/stop operation is performed. At this
time, a small operating sound can be heard and the steering wheel slightly moves in a turning
direction.
f. If "INVALID" is displayed for "STRAIGHT ANG FLG" in the data list, the VGRS system does not
operate.
g. If the steering wheel is turned left and right with the engine switch off, a noise can be heard.
However, this is not a malfunction.
a. Removal and installation of the steering control ECU, steering actuator, and each sensor must
be performed with the engine switch off unless specified.
b. If the steering control ECU, steering actuator, or a sensor is removed and installed, perform the
test mode inspection, check for DTCs, and confirm that the normal system code is output.
c. If the engine switch is turned on (IG) with the steering control ECU connector disconnected,
DTCs may be stored in the EPS and/or ECB systems. Check for DTCs in those systems and
clear any output codes after completing repair.
a. If the steering control ECU or steering actuator is replaced, perform actuator angle neutral point
calibration and initialization.
b. The steering control ECU cannot be disassembled or repaired. If there is any problem with the
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HINT:
The steering wheel may become off-center under any of the following conditions.
If the steering wheel is off-center, drive the vehicle at 35 km/h (22 mph) or more for 5 seconds
or more, or turn the steering wheel to the left and right with the vehicle stopped or while driving
at low speeds. This may center the steering wheel.
a. The VGRS system does not operate under any of the following conditions:
b. A fail-safe function is operating to protect the system from overheating. (System control
is suspended to prevent the motor in the steering actuator and the steering control
ECU from overheating. If the temperatures of the motor and ECU drop, the system will
return to normal.)
c. The vehicle is exposed to extremely low temperatures. (If the ambient temperature
becomes approximately -30C, system control will be suspended.)
PARTS LOCATION
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SYSTEM DIAGRAM
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Steering cooperative
control level signal
Steering cooperative
control level signal
HINT:
*1: Warning information signals are transmitted via the following route:
Steering control ECU --> (CAN) --> Power steering ECU --> (CAN) --> Gateway ECU --> (BEAN) --> Combination
meter
SYSTEM DESCRIPTION
1. GENERAL DESCRIPTION
a. The VGRS (Variable Gear Ratio Steering) system controls the steering angle in accordance with
vehicle speed. The system is controlled by the steering control ECU which operates the steering
actuator mounted on the steering intermediate shaft. The operating angle of the steering actuator
is added to the steering angle of the intermediate shaft in order to vary the turning angle of the
front wheels in accordance with vehicle speed.
b. When the VGRS system is operating normally, the steering wheel can be turned approximately
2.7 turns from lock to lock, with the engine running and the vehicle stopped.
c. If a malfunction occurs in the VGRS system, steering actuator operation will immediately stop
and the input and output shafts will be directly connected to enable the conventional steering
mechanism to operate, maintaining steering function (fail-safe). At the same time, the master
warning light (VGRS) will come on to inform the driver of the malfunction.
2. FUNCTIONS OF COMPONENTS
Component Function
Steering Calculates the steering gear ratio based on tire angle signals and vehicle
Control ECU speed signals. Drives the steering actuator based on calculation results of
steering cooperative control received from the skid control ECU, and of
steering gear ratio control.
Steering Drives the motor using the output current from the steering control ECU to
Actuator change the output shaft angle.
Rotation Angle Outputs the motor rotation angle to the steering control ECU.
Sensor
Steering Angle Outputs the steering wheel angle to the steering control ECU.
Sensor
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Multi- Located on the combination meter ECU. Displays a warning message to inform
information the driver of system malfunctions.
Display
HINT:
NEXT
NEXT
DTC is output. B
A : GO TO NEXT STEP
DTC is output. B
A : GO TO NEXT STEP
5. CHECK DTC
a. Simulate the malfunction and check if the DTCs are output again (See TERMINALS
OF ECU ).
TERMINALS OF ECU SPECIFICATION
DTC is output. A
DTCs are not output, and the malfunction can not be simulated or
C
checked.
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B : GO TO STEP 10
C : SYMPTOM SIMULATION
A : GO TO NEXT STEP
6. DTC CHART
NEXT
7. CIRCUIT INSPECTION
NEXT
8. REPAIR
NEXT
9. CONFIRMATION TEST
NEXT
END
NEXT
NEXT
NEXT
END
INITIALIZATION
1. STEERING ANGLE SENSOR INITIALIZATION (to obtain a tire angle (during straight-ahead driving)
signal)
a. Turn the engine switch on (IG), and check that the master warning light and VSC/ABS warning
lights illuminate for a few seconds.
b. Drive the vehicle on a straight road at 35 km/h (22 mph) or more for 5 seconds or longer.
HINT:
a. At this point, the steering wheel will still remain off-center by 5 to 10 degrees.
b. In this step, the neutral position of the steering wheel is restored from the steering
control ECU memory.
c. Confirm that steering angle sensor initialization is completed (when using the intelligent tester).
a. Enter the VGRS menu using the intelligent tester. Select "STRAIGHT ANG FLG" from
"DATA LIST". Check if the steering angle sensor has obtained a tire angle (during
straight-ahead driving) signal.
Standard:
d. Confirm that steering angle sensor initialization is completed (when not using the intelligent
tester).
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a. Drive the vehicle on a straight road at 60 km/h (37 mph) or more for 30 seconds or
longer.
CALIBRATION
or
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NEXT
2. CHECK DTCs
Result
RESULT SPECIFICATION
Result Proceed to
B : Go to step 4
A : GO TO NEXT STEP
d. Using SST check wire, connect terminals TS and CG, and TC and CG of the DLC3.
SST 09843-18040
e. Disconnect the SST check wire from terminal TS of the DLC3, and turn the steering
wheel to the left 180 or more.
g. Disconnect the SST check wire from terminal TC of the DLC3, and turn the steering
wheel to the right 180 or more.
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HINT:
When the master warning light (VGRS) comes on, DTC C1591/51 is memorized.
NEXT
Go to step 1
a. Confirm that the steering wheel is centered when facing the tires straight ahead.
Result
RESULT SPECIFICATION
Result Proceed to
B : Go to step 8
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A : GO TO NEXT STEP
d. Connect a jumper wire from terminal LV+ to the positive (+) battery terminal and
another jumper wire from terminal LG+ to the negative (-) battery terminal.
NEXT
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NEXT
a. Disconnect the positive (+) and negative (-) battery terminal cables from the steering
actuator.
d. Turn the steering wheel approximately 3 to the left and right. Confirm that the reaction
force can be felt.
NOTE:
NEXT : Go to step 1
HINT:
Activating and ending test mode will complete actuator angle adjustment.
SST 09843-18040
d. Confirm that the "VGRS TEST MODE" is displayed on the multi-information display
when test mode is activated.
f. Disconnect the SST check wire from terminals TS and CG of the DLC3.
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NEXT
NEXT
c. Turn the steering wheel from lock to lock to check that it rotates approximately 2.7
turns.
NEXT
END
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NEXT
b. Turn the engine switch on (IG) and turn the intelligent tester on.
c. Select and perform "STEERING ANGLE ADJ" from the VGRS menu on the intelligent
tester display.
Fig 7: Connecting Intelligent Tester To DLC3
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k. The remaining time is displayed and the display switches automatically to the next
screen.
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NEXT
NEXT
c. Turn the steering wheel from lock to lock to check that it rotates approximately 2.7
turns.
NEXT
END
HINT:
If a normal system code is displayed during the DTC check but the problem still occurs, check the circuits for each
problem symptom in the order given in the table below and proceed to the relevant troubleshooting page.
Steering angle differs Steering angle differs between left STEERING ANGLE DIFFERS
between left and right and right BETWEEN LEFT AND RIGHT
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TERMINALS OF ECU
HINT:
Inspect the connectors from the back side while they are connected.
Symbols Specified
(Terminal No.) Wiring Color Terminal Description Condition Condition
AFS+ (A40-2) L - W-B CAN communication line (to AFS Engine switch on Pulse
- PGND system) (IG) generation
(A40-7)
AFS- (A40-5) - Y - W-B CAN communication line (to AFS Engine switch on Pulse
PGND (A40-7) system) (IG) generation
BMV (K69-1) - W - W-B Steering actuator motor signal (V Engine start Sine wave
PGND (A40-7) phase)
BMU (K69-2) - B - W-B Steering actuator motor signal (U Engine start Sine wave
PGND (A40-7) phase)
BMW (K69-3) R - W-B Steering actuator motor signal (W Engine start Sine wave
- PGND phase)
(A40-7)
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S1 (K70-41) - W - W-B Steering actuator motor rotation Engine switch on Sine wave
PGND (A40-7) angle sensor signal (IG)
RV (K70-6) - B - W-B Steering actuator resolver excitation Engine switch on Sine wave
PGND (A40-7) output voltage (IG)
SS1- (K70-10) L - W-B Steering angle sensor signal Engine switch on Pulse
- PGND (IG), turn the generation
(A40-7) steering wheel
S2 (K70-14) - R - W-B Steering actuator motor rotation Engine switch on Sine wave
PGND (A40-7) angle sensor signal (IG)
SS2+ Shielded - Ground for steering actuator motor Engine switch on Pulse
(K70-16) - W-B rotation angle sensor signal wire and (IG) generation
PGND (A40-7) control signal wire shield wire
DIAGNOSIS SYSTEM
1. DIAGNOSTIC SYSTEM
Standard:
11 to 14 V
HINT:
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a. The steering control ECU uses CAN and ISO 9141-2 as its communication protocol.
The terminal arrangement of the DLC3 complies with SAE J1962 and matches the ISO
9141-2 format. Verify the conditions listed in the table below.
TERMINAL DESCRIPTION SPECIFIED CONDITION CHART
During Pulse
SIL (7) - SG (5) Bus "+" line
transmission generation
CG (4) - Body
Chassis ground Always Below 1
ground
SG (5) - Body
Signal ground Always Below 1
ground
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HINT:
If the display shows a communication error message when you connect the cable of
the intelligent tester to the DLC3, turn the engine switch on (IG) and operate the
intelligent tester, there is a problem on either the vehicle side or the tool side.
c. If the problem still occurs after the above inspection is performed, there may
be a problem with the DLC3 connector.
a. If a malfunction occurs during system operation, the master warning light (VGRS) on the
combination meter assembly will come on and "CHECK VGRS" will be displayed on the multi-
information display to inform the driver of the system malfunction.
Fig 19: VGRS Screen Display
3. DTCs
a. Normal mode.
a. DTCs are memorized in the steering control ECU and read by using the intelligent
tester (See TERMINALS OF ECU ).
b. Test mode.
a. By switching from normal mode to test mode, the steering angle sensor can be
inspected (See DTC CHECK / CLEAR ).
HINT:
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Whether the system is in diagnostic mode or test mode can be checked from the
indication on the multi-information display. For details of the indication and how to
check, refer to "DTC CHECK / CLEAR" (see DTC CHECK / CLEAR ).
b. Check that the master warning light (VGRS) comes on for 2 seconds.
HINT:
If the master warning light (VGRS) check result is not normal, proceed to troubleshooting of the
warning light circuit.
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HINT:
If the DTC check/clear is performed using the intelligent tester, 2-digit codes will also be displayed on the
multi information display.
b. Turn the engine switch on (IG) and turn the intelligent tester on.
c. Check the DTCs by following the prompts on the tester screen. (5-digit DTCs only will
be displayed.)
HINT:
HINT:
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HINT:
SST 09843-18040
c. "DIAG VGRS" is displayed on the multi information display and the system starts
searching for a malfunction.
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e. If the system has a malfunction, "DIAG VGRS xx" is displayed. ("xx" is a 2-digit DTC.)
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b. Using SST check wire, connect and disconnect terminals TC and CG of the DLC3 4
times within 8 seconds.
SST 09843-18040
HINT:
If the problem still exists, DTCs may not be cleared (See INITIALIZATION ).
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HINT:
The VGRS system stores data when a trouble code is set and can be viewed using the intelligent tester.
b. Turn the engine switch on (IG) and turn the intelligent tester on.
Intelligent Tester
Display Measurement Item Value (Unit)
ENGINE REV Engine revolution (RPM) Less than 300 or more then
(RPM) 300 (RPM)
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HINT:
1. When the system enters test mode, "VGRS TEST MODE" is displayed on the multi-information
display.
2. Before entering test mode, check and repair any malfunctions indicated by the present DTCs of
the VGRS system.
3. By switching from normal mode to test mode, the steering angle sensor can be read.
4. When entering test mode, the steering control ECU sets all the test mode DTCs first.
5. When the mode is switched from test mode to normal mode, all the test mode DTCs will be
erased.
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c. Turn the engine switch on (IG) and turn the intelligent tester on.
d. Read the test mode DTCs by following the prompts on the tester screen.
HINT:
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c. Turn the engine switch on (IG) and turn the intelligent tester on.
d. Switch the system from test mode to normal mode by following the directions on the
tester screen.
HINT:
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b. Using SST check wire, connect terminals TS (TC) and CG of the DLC3.
SST 09843-18040
d. Read 2-digit test mode DTCs from the multi information display.
SST 09843-18040
HINT:
If the engine switch is turned on (IG) with terminals TS and CG short-circuited, the
system remains in test mode.
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a. If a trouble code is displayed during the DTC check, check the circuit indicated by the DTC. For
details of each code, proceed to DTC chart.
DTC DETECTION ITEM CHART
a. Steering
A steering signal indicating a tire angle of 36or
angle sensor
C15C4/74 more (to the left or right) is input after transfer to
test mode. (*1) b. Steering
control ECU
a. Steering
A steering signal indicating a motor rotation
angle sensor
C15C5/75 angle of 36or more (to the left or right) is input
after transfer to test mode. (*1) b. Steering
control ECU
HINT:
*1: A tire angle of 36and a motor rotation angle of 36correspond to the steering wheel angle
respectively. The amount of change in tire angle and motor rotation angle is from when the mode
is changed to test mode.
HINT:
By accessing the DATA LIST displayed on the intelligent tester, the values of switches and sensors can be read
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without removing any parts. Reading the DATA LIST is the first step of troubleshooting and is one method to shorten
labor time.
b. Turn the engine switch on (IG) and turn the intelligent tester on.
Measurement Item/Range
Item (Display) Normal Condition Diagnostic Note
MTR SOURCE Motor power source Less than 1 A When not turning
CUR actual current/Min.: 0 A, More than 1 A the steering wheel
Max.: 127.5 A When turning the
steering wheel
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LOCK DUTY Command value DUTY Less than 10% Engine switch on
VAL for actuator lock (IG)
control/Min.: 0%, Max.:
100%
MODE STATE Mode State/00, 01, 02, 00, 01, 02, 03, -
03, 04, 05, 06, 07, 08, 09, 04, 05, 06, 07,
0A, 0B, 0C, 0D, 0E, 0F, 08, 09, 0A, 0B,
10 00, 01, 02, 03, 04, 06, 0C, 0D, 0E, 0F,
07, 08, 09, 0A, 0B, 0C, 10 00, 01, 02,
0D, 0E, 0F, 10 03, 04, 06, 07,
08, 09, 0A, 0B,
0C, 0D, 0E, 0F
or 10
HINT:
*2: If "Rec" is displayed, enter the VGRS menu on the intelligent tester, select record clearance,
and follow the prompts to set to "Unrec".
HINT:
If a trouble code is displayed during the DTC check, check the circuit indicated by the DTC. For details of each
code, proceed to the page for the respective "DTC No." in the following DTC chart.
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2. Steering actuator
3. Steering actuator
2. Steering actuator
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3. Steering actuator
2. IG circuit
3. Charging system
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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.
C1591/51 The steering control ECU detects that There is no malfunction if this DTC is not output
steering angle adjustment is incomplete. again after performing VGRS system calibration.
1. CHECK DTC
OK:
OK : GO TO NEXT STEP
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NEXT
3. CHECK DTC
Result
RESULT SPECIFICATION
Result Proceed to
B : GO TO DTC C1592/52
C : GO TO DTC C1593/53
A : END
DESCRIPTION
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.
Steering
The steering control ECU detects that steering actuator angle actuator
C1592/52
neutral position calibration is incomplete, twice. Steering
control ECU
1. CLEAR DTC
NEXT
NEXT
3. CHECK DTC
OK:
NG : Go to step 4
OK : END
4. CHECK DTC
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Result
RESULT SPECIFICATION
Proceed
Result to
DTC C1592/52 is output after VGRS system calibration has been performed B
less than 3 times.
DTC 1592/52 is output after VGRS system calibration has been performed C
3 times or more.
B : Go to step 1
DESCRIPTION
If the steering control ECU detects a steering actuator standard position error, it will store DTC C1593/53.
1. CHECK DTC
OK:
OK : END
DTC C1595/55 Lost Communication With Steering Angle Sensor Module; DTC C15C4/74 Steering Angle
Signal (Test Mode DTC)
DESCRIPTION
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.
Steering angle
sensor
The steering control ECU detects an error in serial
C1595/55 Wire harness and
communication between the ECU and steering angle sensor.
connector
Steering control
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ECU
WIRING DIAGRAM
a. 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.
OK : GO TO NEXT STEP
b. Disconnect the connectors from the steering control ECU and the steering angle sensor.
Resistance
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Fig 32: Identifying K70 And K19 Connectors From Steering Control ECU And Steering Angle Sensor
OK : GO TO NEXT STEP
e. Check the signal waveform according to the condition in the table below.
Voltage
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HINT:
The output voltage should fluctuate up and down similarly to the diagram on the left when the
wheel is turned slowly.
DESCRIPTION
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.
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CAN communication
The steering control ECU detects a reception error of system (Local CAN)
C1597/57 signals from the power steering ECU via local CAN
Power steering ECU
communication.
Steering control ECU
WIRING DIAGRAM
a. Disconnect the connectors from the steering control ECU and the power steering ECU.
Resistance
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Fig 35: Identifying Connectors From Steering Control ECU And Power Steering ECU
OK : GO TO NEXT STEP
b. Connect the connectors to the steering control ECU and the power steering ECU.
c. Check for DTCs in the steering control ECU (See TERMINALS OF ECU ).
OK:
OK : END
DESCRIPTION
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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.
WIRING DIAGRAM
HINT:
When DTC C15A2/62 is output, a short circuit inside the steering actuator or inside the steering control ECU is
suspected.
b. Disconnect the connectors from the steering control ECU and the steering actuator.
Resistance
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OK : GO TO NEXT STEP
Resistance
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DESCRIPTION
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.
The VGRS system detects a malfunction in the motor Power source circuit
C15A2/62
drive circuit.
Steering actuator
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WIRING DIAGRAM
HINT:
The actuator only can be checked in this procedure. If it is normal, the steering control ECU is faulty.
Resistance
Voltage
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OK : GO TO NEXT STEP
b. Disconnect the connectors from the steering control ECU and the steering actuator.
Resistance
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Fig 41: Identifying Connectors From Steering Control ECU And Steering Actuator
OK : GO TO NEXT STEP
Resistance
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OK : GO TO NEXT STEP
4. CHECK DTC
b. Turn the engine switch on (IG) and turn the intelligent tester on.
OK:
DTC C15A3/63 Actuator Malfunction; DTC C15C5/75 Motor Revolution Angle Signal (Test Mode DTC)
DESCRIPTION
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.
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WIRING DIAGRAM
b. Disconnect the connectors from the steering control ECU and the steering actuator.
Resistance
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Fig 44: Identifying K70 And K26 Connectors From Steering Control ECU And Steering Actuator
OK : GO TO NEXT STEP
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Resistance
DTC C15A4/64 Actuator Malfunction; DTC C15A9/66 Lock Holder Deviation Detection; DTC C15AA/66 Lock
Mechanism Release Incomplete; DTC C15AB/66 Lock Mechanism Insertion Malfunction
DESCRIPTION
When the VGRS system is normal, the steering actuator conducts current from the steering control ECU to the
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steering actuator solenoid to release the lock mechanism, enabling motor operation. The steering actuator does not
operate under either of the following conditions:
The motor in the actuator is locked by the lock mechanism to prevent rotation. (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.
The steering control ECU detects that the difference between the
Steering
C15A4/64 actuator target angle and the actuator position is approximately 30
actuator
or more for 1 second.
The steering control ECU detects that the lock pin is not aligned Steering
C15A9/66
with the lock holder correctly. actuator
The steering control ECU cannot operate because the actuator lock Steering
C15AA/66
cannot be released. actuator
The steering control ECU detects that the lock pin cannot be Steering
C15AB/66
inserted into the lock holder. actuator
NEXT
END
DESCRIPTION
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.
WIRING DIAGRAM
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b. Disconnect the connectors from the steering control ECU and the steering actuator.
Resistance
Voltage
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Fig 47: Identifying K70 And K26 Connectors From Steering Control ECU And Steering Actuator
OK : GO TO NEXT STEP
Resistance
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DTC C15B1/71 ECU Malfunction; DTC C15B2/72 ECU Malfunction; DTC C15B3/73 ECU Malfunction
DESCRIPTION
If the steering control ECU detects an internal malfunction, it will turn the master warning light on, store these DTCs,
and stop VGRS operation.
Steering control
C15B1/71 The steering control ECU detects an internal malfunction.
ECU
Steering control
C15B2/72 The steering control ECU detects an internal malfunction.
ECU
NEXT
END
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DESCRIPTION
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.
C15B4/71 The steering control ECU detects an internal malfunction. Steering control ECU
a. Check the conditions under which the master warning light comes on.
Result:
The engine stalled, battery voltage is too low, or the steering control ECU connector is
disconnected.
OK : GO TO NEXT STEP
2. CLEAR DTC
b. Turn the engine switch on (IG) and turn the intelligent tester on.
NEXT
NEXT
4. CHECK DTC
OK:
OK : END
DTC C15C1/74 Steering Angle Sensor Malfunction; DTC C15C2/74 Steering Angle Sensor B+ Malfunction
DESCRIPTION
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.
The steering control ECU receives a steering angle sensor Steering angle
C15C1/74
malfunction signal via CAN communication. sensor
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Steering angle
sensor
Steering
control ECU
Steering angle
sensor
The steering control ECU receives a B+ open circuit signal from Steering angle
C15C2/74
the steering angle sensor via CAN communication. sensor
Steering
control ECU
WIRING DIAGRAM
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1. CHECK DTC
a. Check for DTCs in the skid control ECU (See DATA LIST / ACTIVE TEST ).
OK:
OK : GO TO NEXT STEP
2. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
DESCRIPTION
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.
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The steering control ECU receives a vehicle speed error CAN communication
C15C3/75
signal via CAN communication. system
1. CHECK DTC
a. Check for DTCs in the skid control ECU (See DATA LIST / ACTIVE TEST ).
OK:
OK : GO TO NEXT STEP
2. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
DESCRIPTION
If the steering control ECU detects a malfunction, it will turn on the master warning light, store DTC C15C6/77, and
stop VGRS operation.
ECU-IG LH
fuse
The steering control ECU detects that the battery voltage is IG circuit
C15C6/77 normal and the IG terminal voltage is less than 4 V for 6 Charging
seconds. system
Steering
control ECU
WIRING DIAGRAM
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Voltage
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A : GO TO NEXT STEP
2. CHECK DTC
c. Turn the engine switch on (IG) and turn the intelligent tester on.
OK:
OK : END
DTC C15C7/78 DC Motor Power Source Voltage Malfunction; DTC C15C8/79 Power Supply Relay Failure
DESCRIPTION
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.
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VGRS fuse
Wire harness
The steering control ECU detects that the IG terminal voltage is and connector
C15C7/78 between 9 and 16 V, and the PIG terminal voltage is less than
Power source
7 V or more than 18.5 V for 2.4 seconds. circuit
Steering control
ECU
VGRS fuse
Wire harness
The steering control ECU detects a malfunction in the power
C15C8/79 and connector
source relay or an open circuit.
Steering control
ECU
WIRING DIAGRAM
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Resistance
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OK : GO TO NEXT STEP
Voltage
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A : GO TO NEXT STEP
3. CHECK DTC
c. Turn the engine switch on (IG) and turn the intelligent tester on.
OK:
OK : END
DESCRIPTION
The steering control ECU receives signals from the ECM (engine ECU) via CAN communication. If the steering
control ECU detects an error in reception, it will output this DTC.
CAN communication
The steering control ECU detects an error in reception system
U0100/56
(from ECM) in CAN communication.
ECM
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WIRING DIAGRAM
1. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
A : REPLACE ECM
DESCRIPTION
The steering control ECU receives signals from the skid control ECU via CAN communication. If the steering control
ECU detests an error in reception, it will output this DTC.
CAN communication
The steering control ECU detects an error in reception system
U0122/56
(from skid control ECU) in CAN communication.
Skid control ECU
WIRING DIAGRAM
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Fig 57: Lost Communication With Vehicle Dynamics Control Module Wiring Diagram
1. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
DTC U0123/56 Lost Communication With Yaw Rate (Deceleration) Sensor Module
DESCRIPTION
The steering control ECU receives signals from the yaw rate (deceleration) sensor via CAN communication.
If the steering control ECU detects an error in reception, it will output this DTC.
CAN communication
The steering control ECU detects an error in reception system
U0123/56 (from yaw rate (deceleration) sensor) in CAN
communication. Yaw rate
(deceleration) sensor
WIRING DIAGRAM
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Fig 58: Lost Communication With Yaw Rate (Deceleration) Sensor Module Wiring Diagram
1. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
DESCRIPTION
The steering control ECU receives signals from the steering angle sensor via CAN communication. If the steering
control ECU detects an error in reception, it will output this DTC.
CAN communication
The steering control ECU detects an error in reception system
U0126/56
(from steering angle sensor) in CAN communication. Steering angle
sensor
WIRING DIAGRAM
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Fig 59: Lost Communication With Steering Angle Sensor Module Wiring Diagram
1. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
DESCRIPTION
The steering control ECU receives signals from the power steering ECU via CAN communication. If the steering
control ECU detects an error in reception, it will output this DTC.
CAN communication
The steering control ECU detects an error in reception system
U0123/56
(from power steering ECU) in CAN communication.
Power steering ECU
WIRING DIAGRAM
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Fig 60: Lost Communication With Power Steering Control Module Wiring Diagram
1. CHECK DTC
a. Check for DTCs in the CAN communication system (See GATEWAY ECU COMMUNICATION
STOP MODE ).
Result
RESULT SPECIFICATION
Result Proceed to
DTC is output. B
This problem may be caused by a malfunction in the ECB or EPS system. Make sure that no DTC is output for the
skid control ECU, power steering ECU, or steering control ECU before proceeding with the following procedures.
If a DTC is output for any of these ECUs, first troubleshoot it and then proceed.
b. Turn the steering wheel slowly from left and right several times, and then check if the steering
wheel is centered.
Result
RESULT SPECIFICATION
Result Proceed to
HINT:
If turning the steering wheel quickly while driving at low speeds, the steering angle may differ
between left and right, or the steering wheel may become off-center. However, this is not a
malfunction.
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B : GO TO NEXT STEP
Result
RESULT SPECIFICATION
Result Proceed to
All tire sizes are correct and tire pressures are normal. A
All tire sizes are correct, but tire pressures are incorrect. C
A : GO TO NEXT STEP
a. Check wheel alignment (See ADJUSTMENT for front, ADJUSTMENT for rear).
OK:
HINT:
Adjust the tie-rod ends within the specified values so that the tire angles are the same between
left and right when the steering wheel is turned from lock to lock.
HINT:
Make sure that no DTC is output for the skid control ECU, power steering ECU, or steering control ECU before
proceeding with the following procedures.
If a DTC is output for any of these ECUs, first troubleshoot it and then proceed.
Normal
Item Measurement Item / Range (Display)
Condition
Result:
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HINT:
B : Go to step 3
A : GO TO NEXT STEP
a. Turn the engine switch on (IG) and wait for 30 minutes until the steering actuator cools down.
b. Start the engine and slowly turn the steering wheel from lock to lock (approximately 90/sec) 3
times.
HINT:
If turning the steering wheel quickly while driving at low speeds, the steering angle may differ
between left and right, or the steering wheel may become off-center. However, this is not a
malfunction.
Result:
A: 2.7 turns
B: 3.2 turns
B : Go to step 3
OK:
HINT:
After completing the inspection or repair, attempt to simulate the problem and then perform step
1 again to reconfirm that the problem does not occur.
OK : GO TO NEXT STEP
OK:
OK : GO TO NEXT STEP
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b. Measure the voltage and resistance according to the value(s) in the table below.
Voltage
Resistance
HINT:
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After checking that no DTC is output for the VGRS system, perform the following procedure.
a. Turn the steering wheel from lock to lock at a speed of approximately 90/sec Check if the
steering wheel angles between left and right.
OK:
HINT:
If turning the steering wheel quickly while driving at low speeds, the steering angle may differ
between left and right, or the steering wheel may become off-center. However, this is not a
malfunction.
NG : GO TO NEXT STEP
OK:
HINT:
After completing the inspection or repair, attempt to simulate the problem and then perform step
1 again to reconfirm that the problem does not occur.
OK : GO TO NEXT STEP
a. Check wheel alignment (See ADJUSTMENT for front, ADJUSTMENT for rear).
OK:
HINT:
Adjust the tie-rod ends within the specified values so that the tire angles are the same between
left and right when the steering wheel is turned from lock to lock.
HINT:
Check that no DTC is output for the VGRS system, ECB system, and ABS system.
b. Check for abnormal noise or vibration while turning the steering wheel.
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OK:
OK : GO TO NEXT STEP
a. Repair or replace the power steering system (See POWER STEERING SYSTEM ).
NEXT
DESCRIPTION
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.
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.
WIRING DIAGRAM
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HINT:
Check that there is no problem in CAN and BEAN communications before performing the following procedure.
If there is any problem in these communications, first troubleshoot it and then proceed.
1. CHECK BATTERY
OK:
11 to 14 V
NG : REPLACE BATTERY
OK : GO TO NEXT STEP
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Result
MST WARN Master warning Confirm that the vehicle is stopped and
INDICATOR (OFF/ON) engine idling
OK : GO TO NEXT STEP
a. Check for DTCs in the power steering system (See DTC CHECK / CLEAR ).
OK:
OK : GO TO NEXT STEP
a. Check for an open or short circuit in the wire harnesses (CANH and CANL) of the ECM (See
ECM COMMUNICATION STOP MODE ).
OK:
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