Steering Control System: Section

STEERING
SECTION
STEERING CONTROL SYSTEM
STC B
E
CONTENTS
HOW TO USE THIS MANUAL ...................... 3 Reference Value ......................................................18 F
Fail-Safe ..................................................................20
HOW TO USE THIS SECTION ............................ 3 Protection Function ..................................................20
Information ................................................................ 3 DTC Inspection Priority Chart ..................................20 STC
DTC Index ...............................................................21
PRECAUTION ............................................... 4
WIRING DIAGRAM ...................................... 22
PRECAUTIONS ................................................... 4 H
Precaution for Supplemental Restraint System EPS SYSTEM .................................................... 22
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN- Wiring Diagram ........................................................22
SIONER" ................................................................... 4 I
Precaution Necessary for Steering Wheel Rota- BASIC INSPECTION ................................... 24
tion After Battery Disconnect ..................................... 4
Precautions for Removing Battery Terminal ............. 5 DIAGNOSIS AND REPAIR WORKFLOW ........ 24
Precaution for Stop/Start System Service ................. 6 Work Flow ................................................................24 J
Service Notice and Precautions for EPS System ...... 6 Diagnostic Work Sheet ............................................25
SYSTEM DESCRIPTION .............................. 7 DTC/CIRCUIT DIAGNOSIS ......................... 27 K

COMPONENT PARTS ........................................ 7 C1601 BATTERY POWER SUPPLY ................ 27
Component Parts Location ........................................ 7 DTC Description ......................................................27
EPS Control Unit ..................................................... 10 Diagnosis Procedure ...............................................27 L
EPS Motor, Torque Sensor, Reduction Gear .......... 10 C1604 TORQUE SENSOR ................................ 30
SYSTEM .............................................................12 DTC Description ......................................................30
M
Diagnosis Procedure ...............................................30
EPS SYSTEM ............................................................ 12
EPS SYSTEM : System Description ....................... 12 C1606 EPS MOTOR .......................................... 31
EPS SYSTEM : Circuit Diagram ............................. 14 DTC Description ......................................................31 N
EPS SYSTEM : Fail-Safe ........................................ 14 Diagnosis Procedure ...............................................31
EPS SYSTEM : Protection Function ....................... 15
C1607, C1608 EPS CONTROL UNIT ............... 32
DTC Description ......................................................32 O
WARNING/INDICATOR/CHIME LIST ....................... 15
WARNING/INDICATOR/CHIME LIST : Warning Diagnosis Procedure ...............................................32
Lamp/Indicator Lamp .............................................. 15
C1609 VEHICLE SPEED SIGNAL .................... 33 P
DIAGNOSIS SYSTEM (EPS CONTROL UNIT) DTC Description ......................................................33
....16 Diagnosis Procedure ...............................................33
CONSULT Function ................................................ 16
U1000 CAN COMM CIRCUIT ........................... 34
ECU DIAGNOSIS INFORMATION .............. 18 DTC Description ......................................................34
Diagnosis Procedure ...............................................34
EPS CONTROL UNIT .........................................18
STC-1
U1010 CONTROL UNIT (CAN) ......................... 35 ELECTRIC POWER STEERING WARNING
DTC Description ..................................................... 35 LAMP DOES NOT TURN OFF .......................... 44
Diagnosis Procedure .............................................. 35 Description .............................................................. 44
Diagnosis Procedure ............................................... 44
U1970 AROUND VIEW MONITOR SYSTEM ... 36
DTC Description ..................................................... 36 STEERING WHEEL TURNING FORCE IS
Diagnosis Procedure .............................................. 36 HEAVY OR LIGHT ............................................. 45
Description .............................................................. 45
U1971 SONAR SYSTEM ................................... 38 Diagnosis Procedure ............................................... 45
DTC Description ..................................................... 38
Diagnosis Procedure .............................................. 38 UNBALANCE STEERING WHEEL TURNING
FORCE AND RETURN BETWEEN RIGHT
POWER SUPPLY AND GROUND CIRCUIT ..... 40
Diagnosis Procedure .............................................. 40
AND LEFT ......................................................... 47
Description .............................................................. 47
ELECTRIC POWER STEERING WARNING Diagnosis Procedure ............................................... 47
LAMP ................................................................. 42
UNBALANCE STEERING WHEEL TURNING
Component Function Check ................................... 42
FORCE (TORQUE VARIATION) ....................... 48
Description .............................................................. 48
SYMPTOM DIAGNOSIS ............................. 43 Diagnosis Procedure ............................................... 48
ELECTRIC POWER STEERING WARNING REMOVAL AND INSTALLATION .............. 50

LAMP DOES NOT TURN ON ............................ 43
EPS CONTROL UNIT ........................................ 50
Description .............................................................. 43
Removal and Installation ......................................... 50
STC-2
HOW TO USE THIS SECTION
< HOW TO USE THIS MANUAL >
HOW TO USE THIS MANUAL A
HOW TO USE THIS SECTION
Information INFOID:0000000010988223
B
• Both “VDC” and “ESP” are used in this manual. These indicate the same system.
• In this manual, “Idling Stop System” is referred to as “Stop / Start System”.
C
STC
STC-3
PRECAUTIONS
< PRECAUTION >
PRECAUTION
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER" INFOID:0000000010688395
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the “SRS AIR BAG” and
“SEAT BELT” of this Service Manual.
WARNING:
Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision that would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see “SRS AIR BAG”.
• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-
vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.
PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS
WARNING:
Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the
ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.
• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the
battery, and wait at least 3 minutes before performing any service.
Precaution Necessary for Steering Wheel Rotation After Battery Disconnect
INFOID:0000000010700569
CAUTION:
Comply with the following cautions to prevent any error and malfunction.
• Before removing and installing any control units, first turn the ignition power source and accessory
power source to the OFF, then disconnect both battery cables.
• After finishing work, confirm that all control unit connectors are connected properly, then re-connect
both battery cables.
• Always use CONSULT to perform self-diagnosis as a part of each function inspection after finishing
work. If a DTC is detected, perform trouble diagnosis according to self-diagnosis results.
For vehicle with steering lock unit, if the battery is disconnected or discharged, the steering wheel will lock and
cannot be turned.
If turning the steering wheel is required with the battery disconnected or discharged, follow the operation pro-
cedure below before starting the repair operation.
OPERATION PROCEDURE
1. Connect both battery cables.
NOTE:
Supply power using jumper cables if battery is discharged.
2. Open driver door.
3. Turn the ignition switch to the ON position.
(At this time, the steering lock will be released.)
4. Turn the ignition switch to OFF position with driver door open.
5. Wait for 3 minutes or longer with driver door open.
NOTE:
• Do not close driver door because the steering wheel locks when driver door is closed.
STC-4
PRECAUTIONS
< PRECAUTION >
• The auto acc function is adapted to this vehicle. For this reason, even when the ignition switch is turned
to OFF position, the accessory power source does not turned OFF and continues to be supplied for a A
certain amount of time.
6. Disconnect both battery cables. The steering lock will remain released with both battery cables discon-
nected and the steering wheel can be turned. B
7. Perform the necessary repair operation.
8. When the repair work is completed, re-connect both battery cables. With the brake pedal released, turn
the ignition switch from OFF position to ON position, then to LOCK position. (The steering wheel will lock C
when the ignition switch is turned to LOCK position.)
9. Perform self-diagnosis check of all control units using CONSULT.
Precautions for Removing Battery Terminal INFOID:0000000010700568
D
• With the adoption of Auto ACC function, ACC power is automatically supplied by operating the intelligent key
or remote keyless entry or by opening/closing the driver side door. In addition, ACC power is supplied even E
after the ignition switch is turned to the OFF position, i.e. ACC power is supplied for a certain fixed time.
• When disconnecting the 12V battery terminal, turn off the ACC
power before disconnecting the 12V battery terminal, observing
“How to disconnect 12V battery terminal” described below. F
NOTE:
Some ECUs operate for a certain fixed time even after ignition
switch is turned OFF and ignition power supply is stopped. If the STC
battery terminal is disconnected before ECU stops, accidental DTC
detection or ECU data damage may occur.
• For vehicles with the 2-batteries, be sure to connect the main bat-
H
tery and the sub battery before turning ON the ignition switch.
NOTE:
SEF289H
If the ignition switch is turned ON with any one of the terminals of
main battery and sub battery disconnected, then DTC may be detected. I
• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.
NOTE:
The removal of 12V battery may cause a DTC detection error. J
HOW TO DISCONNECT 12V BATTERY TERMINAL
Disconnect 12V battery terminal according to Instruction 1 or Instruction 2 described below.
For vehicles parked by ignition switch OFF, refer to Instruction 2. K
INSTRUCTION 1
1. Open the hood.
L
2. Turn key switch to the OFF position with the driver side door opened.
3. Get out of the vehicle and close the driver side door.
4. Wait at least 3 minutes. For vehicle with the engine listed below, remove the battery terminal after a lapse
M
of the specified time.
D4D engine : 20 minutes

HRA2DDT : 12 minutes N
K9K engine : 4 minutes
M9R engine : 4 minutes
R9M engine : 4 minutes O
V9X engine : 4 minutes
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of P
this caution results in the activation of ACC power supply according to the Auto ACC function.
5. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
INSTRUCTION 2 (FOR VEHICLES PARKED BY IGNITION SWITCH OFF)
1. Unlock the door with intelligent key or remote keyless entry.
STC-5
PRECAUTIONS
< PRECAUTION >
NOTE:
At this moment, ACC power is supplied.
2. Open the driver side door.
3. Open the hood.
4. Close the driver side door.
5. Wait at least 3 minutes.
CAUTION:
While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of
this caution results in the activation of ACC power supply according to the Auto ACC function.
6. Remove 12V battery terminal.
CAUTION:
After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.
Precaution for Stop/Start System Service INFOID:0000000011043870
CAUTION:
When performing an inspection and its related work with the engine at idle, always turn the stop/start
OFF switch ON or open the hood to release the stop/start system.
Service Notice and Precautions for EPS System INFOID:0000000010688398
• Check the following item when performing the trouble diagnosis.

- Check any possible causes by interviewing the symptom and it′s condition from the customer if any malfunc-
tion, such as Electric power steering warning lamp is turned ON, occurs.
- Check if air pressure and size of tires are proper, the specified part is used for the steering wheel, and con-
trol unit is genuine part.
- Check if the connection of steering column assembly and steering gear assembly is proper (there is not
looseness of mounting bolts, damage of rods, boots or sealants, and leakage of grease, etc.).
- Check if the wheel alignment is adjusted properly.
- Check if there is any damage or modification to suspension or body resulting in increased weight or altered
ground clearance.
- Check if installation conditions of each link and suspension are proper.
- Check if the battery voltage is proper.
- Check connection conditions of each connector are proper.
- Before connecting or disconnecting the EPS control unit harness connector, turn ignition switch “OFF” and
disconnect battery ground cable. Because battery voltage is applied to EPS control unit even if ignition
switch is turned “OFF”.
• During quick steering, rasping noise may be heard from around the steering wheel. This is not a malfunction.
The noise is an operating noise of the EPS system under normal conditions. If the rasping noise occurs dur-
ing slow steering, this may not be an operating noise of the system. In this case, it is necessary to find out
the location of the noise and repair, if necessary.
STC-6
COMPONENT PARTS
< SYSTEM DESCRIPTION >
SYSTEM DESCRIPTION A
COMPONENT PARTS
Component Parts Location INFOID:0000000010688399
B
LHD models
C
STC
K
JSGIA1555ZZ
Steering column assembly L
STC-7
COMPONENT PARTS
No. Component Function

• Transmits mainly the following signal to EPS control unit via
CAN communication.
- Vehicle speed signal (Meter)
• For detailed installation location, refer to MWI-7, "METER
Combination meter SYSTEM : Component Parts Location".
(Electric power steering warning lamp) • Turns ON the electric power steering warning lamp according
to the signal from EPS control unit via CAN communication.
• For electric power steering warning lamp, refer to STC-15,
"WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indica-
tor Lamp".
CAN communication.
- Park Assist status signal
- Park Assist malfunction signal
- Steering angle command signal
Around view monitor control unit*1 • Receives mainly the following signal to EPS control unit via
CAN communication.
- EPS torque signal
- Park Assist permit signal
• For detailed installation location, refer to AV-76, "Around View
Monitor Control Unit".
CAN communication.
ABS actuator and electric unit (control unit) - Vehicle speed signal (ABS)
• For detailed installation location, refer to BRC-25, "ABS Actu-
ator and Electric Unit (Control Unit)".
• Transmits mainly the following signals to EPS control unit via
CAN communication.
- Engine status signal
- EPS assist request signal *2
- Stop/start status signal *2
• Receives mainly the following signal to EPS control unit via
ECM CAN communication.
- EPS operation signal
- Stop/start inhibit signal*2
• For detailed installation location,
MR20DD: Refer to EC-28, "ENGINE CONTROL SYSTEM :
Component Parts Location".
QR25DE: Refer to EC-440, "Component Parts Location".
R9M: Refer to EC-812, "Component Parts Location".
CAN communication.
Sonar control unit*1 - Steering angle command signal
: Refer to SN-119, "Component Parts Location".
EPS control unit STC-10, "EPS Control Unit"
EPS motor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"
Torque sensor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"
Reduction gear STC-10, "EPS Motor, Torque Sensor, Reduction Gear"
*1: Models around view monitor with park assist

*2: With stop/start system
RHD models
STC-8
COMPONENT PARTS
STC
I
JSGIA1556ZZ
Steering column assembly

J

• Transmits mainly the following signal to EPS control unit via K
CAN communication.
- Vehicle speed signal (Meter)
• For detailed installation location, refer to MWI-7, "METER
Combination meter SYSTEM : Component Parts Location". L
(Electric power steering warning lamp) • Turns ON the electric power steering warning lamp according
to the signal from EPS control unit via CAN communication.
• For electric power steering warning lamp, refer to STC-15,
"WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indica-
M
tor Lamp".
CAN communication. N
- Stop/start status signal *1 O
ECM • Receives mainly the following signal to EPS control unit via
CAN communication.
- Stop/start inhibit signal*1 P
R9M: Refer to EC-812, "Component Parts Location".
CAN communication.
ABS actuator and electric unit (control unit) - Vehicle speed signal (ABS)
• For detailed installation location, Refer to BRC-25, "ABS Actu-
ator and Electric Unit (Control Unit)".
STC-9
COMPONENT PARTS
CAN communication.
Around view monitor control unit*2 • Receives mainly the following signal to EPS control unit via
CAN communication.
- EPS torque signal
• For detailed installation location, refer to AV-76, "Around View
Monitor Control Unit".
CAN communication.
Sonar control unit*2 - Steering angle command signal
: Refer to SN-119, "Component Parts Location".
EPS control unit STC-10, "EPS Control Unit"
EPS motor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"
Torque sensor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"
Reduction gear STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

EPS Control Unit INFOID:0000000010688400
NOTE:
The EPS control unit, EPS motor, torque sensor, and reduction gear are integrated with the steering column
assy.
• EPS control unit is installed to steering column assembly.
• EPS control unit performs an arithmetical operation on data, such
as steering wheel turning force (sensor signal) from the torque
sensor, vehicle speed signal, etc. Then it generates an optimum
assist torque signal to the EPS motor according to the driving con-
dition.
• EPS control unit decreases the output signal to EPS motor while
extremely using the power steering function (e.g., full steering)
consecutively for protecting EPS motor and EPS control unit
(Overload protection control).
• When the stop/start system operation starts, the EPS control unit JSGIA1430ZZ
receives a stop/start status signal from ECM via CAN communica-
tion and disables the assist control. (Models with stop/start system)
• When the driver turns the steering wheel (torque application exceeding the specified torque) during stop/
start system operation, the EPS control unit transmits an EPS torque signal to ECM via CAN communication
and restarts the engine (disables stop/start system). (Models with stop/start system)
• EPS control unit receives a Park Assist status signal from the around view monitor control unit and performs
around view monitor with park assist control.
• EPS control unit receives a Park Assist status signal to the around view monitor control unit to examine
whether the EPS control unit can perform around view monitor with park assist control or not.
• Around view monitor with park assist control is cancelled when the driver operates the steering wheel during
around view monitor with park assist control.
• Diagnoses can be performed with CONSULT.
EPS Motor, Torque Sensor, Reduction Gear INFOID:0000000010688401
NOTE:
The EPS control unit, EPS motor, torque sensor, and reduction gear are integrated with the steering column
assy.
STC-10
COMPONENT PARTS
EPS motor , torque sensor and reduction gear are installed
to steering column assembly. A
JSGIA1431ZZ
D
EPS MOTOR
EPS motor provides the assist torque by the control signal from EPS control unit.
TORQUE SENSOR E
Torque sensor detects the steering torque, and transmits the signal to EPS control unit.
REDUCTION GEAR
Reduction gear increases the assist torque provided from EPS motor with worm gears, and outputs to the col- F
umn shaft.
STC
STC-11
SYSTEM
SYSTEM
EPS SYSTEM
EPS SYSTEM : System Description INFOID:0000000010688402
DESCRIPTION
• EPS system consists mainly of EPS system, EPS motor, torque
sensor, and reduction gear.
• EPS system calculates a control signal to transmit to the EPS
motor based on information received from ECM, ABS actuator and
electric unit (control unit), around view monitor control unit, and
combination meter via CAN communication and information
received from torque sensor.
• EPS control unit performs an arithmetical operation on data, such
as steering wheel turning force (sensor signal) from the torque
sensor, vehicle speed signal, etc. Then it generates an optimum
assist torque signal to the EPS motor according to the driving con-
dition.
• When the driver turns the steering wheel (torque application
exceeding the specified torque) during stop/start, the EPS control
unit restarts the engine (disables stop/start system) and immedi-
ately brings the assist control in its ready-to-start state.
• If EPS becomes out of order, the power steering warning lamp
blinks and the Stop/Start System brings about such conditions as
follows (Models with stop/start system):
- Stop/start mode is not enabled under non stop/start state.
- The engine is restarted during stop/start, regardless of steering
wheel operation. (Models with stop/start system)
• The around view monitor with park assist function assists garaging
JSGIA1102GB
and parallel parking and allows automatic operation of the steering
wheel when the system starts.
• When an error in the electrical system, the fail-safe function stops output signals to the EPS motor. Refer to
STC-14, "EPS SYSTEM : Fail-Safe".
• EPS control unit decreases the output signal to EPS motor while extremely using the power steering func-
tion (e.g., full steering) consecutively for protecting EPS motor and EPS control unit (Overload protection
control). Refer to STC-20, "Protection Function".
SYSTEM DIAGRAM
NOTE:
STC-12
SYSTEM
Around view monitor control unit and sonar control unit: Models around view monitor with park assist
A
STC
H
JSGIA1557GB
INPUT/OUTPUT SIGNAL
Communicates the signal from each control unit via CAN communication. I
Control unit Signal status

• Transmits mainly the following signals to EPS control unit via CAN communication. J
ECM - Stop/start status signal *1
• Receives mainly the following signal to EPS control unit via CAN communication.
K
- Stop/start inhibit signal*1
ABS actuator and electric unit (con- • Transmits the following signal to EPS control unit via CAN communication. L
trol unit) - Vehicle speed signal (ABS)
• Transmits the following signal to EPS control unit via CAN communication.
- Vehicle speed signal (Meter) M
Combination meter
• Receives the following signal from EPS control unit via CAN communication.
- Electric power steering warning lamp
• Transmits mainly the following signal to EPS control unit via CAN communication. N
Around view monitor control unit*2 - Steering angle command signal
• Receives mainly the following signal to EPS control unit via CAN communication. O
- EPS torque signal
• Transmits the following signal to EPS control unit via CAN communication.
Sonar control unit*2 P
ELECTRIC POWER STEERING WARNING LAMP INDICATION
• Turn ON when there is a malfunction in EPS system. If indicates that fail-safe mode is engaged and enters a
manual steering state (Control turning force steering wheel becomes heavy).
STC-13
SYSTEM
• Also turns ON when ignition switch is turned ON, for purpose of lamp check. Turns OFF after the engine
starts, if system is normal.
Condition Electric power steering warning lamp

Ignition switch ON. (Lamp check) ON
Engine running. OFF
EPS system malfunction [Other diagnostic item] ON
CAUTION:
Electric power steering warning lamp also turns ON due to data reception error, CAN communication
error etc.
EPS SYSTEM : Circuit Diagram INFOID:0000000010688403
JSGIA1568GB
EPS SYSTEM : Fail-Safe INFOID:0000000010699143
• If any malfunction occurs in the system and control unit detects the malfunction, Electric power steering
warning lamp on combination meter turns ON to indicate system malfunction.
• When Electric power steering warning lamp is ON, the system enters into a manual steering state. (Control
turning force steering wheel becomes heavy.)
DTC Fail-safe condition

C1601 Assist is reduced according to voltage, resulting in manual steering state.
C1604
C1606
Manual steering state.
C1607
C1608
C1609 Constant steering assist level state
STC-14
SYSTEM
A
Normal control
U1000 NOTE:
If the cause is in a different ECU, the state changes to fixed steering assist force.
U1010 Normal control B
U1970 Around view monitor with park assist function stops (controlled by around view monitor).
U1971 Around view monitor with park assist function stops (controlled by sonar).
C
EPS SYSTEM : Protection Function INFOID:0000000010699144
EPS control unit decreases the output signal to EPS motor while extremely using the power steering function D
(e.g., full steering) consecutively for protecting EPS motor and EPS control unit (Overload protection control).
While activating overload protection control, the assist torque gradually decreases, and the steering wheel
turning force becomes heavy. The normal assist torque is recovered if the steering wheel is not turned for a E
while.
WARNING/INDICATOR/CHIME LIST
WARNING/INDICATOR/CHIME LIST : Warning Lamp/Indicator Lamp INFOID:0000000010688406 F
Name Design Layout/Function STC

For layout, refer to MWI-10, "METER SYSTEM : Design".
Electric power steer-
ing warning lamp For function, refer to MWI-35, "WARNING LAMPS/INDICATOR LAMPS : Electric Power Steer-
ing Warning Lamp".
H
STC-15
DIAGNOSIS SYSTEM (EPS CONTROL UNIT)
CONSULT Function INFOID:0000000010688407
FUNCTION
CONSULT can display each diagnostic item using the diagnostic test modes shown following.
Diagnostic test mode Function

ECU identification The part number stored in the control unit can be read.
Self diagnostic result Self-diagnostic results and freeze frame data can be read and erased quickly.*
Data monitor Input/Output data in the EPS control unit can be read.
*: The following diagnosis information is erased by erasing.
• DTC
• Freeze frame data (FFD)
ECU IDENTIFICATION
Displays the part number stored in the control unit.
SELF-DIAG RESULTS MODE
Refer to STC-21, "DTC Index".
When “CRNT” is displayed on self-diagnosis result.
• The system is presently malfunctioning.
When “PAST” is displayed on self-diagnosis result.
• System malfunction in the past is detected, but the system is presently normal.
FREEZE FRAME DATA (FFD)
The following vehicle status is recorded when DTC is detected and is displayed on CONSULT.
Item name Display item

The number of times that ignition switch is turned ON after the DTC is detected is displayed.
• When “0” is displayed: It indicates that the system is presently malfunctioning.
• When except “0” is displayed: It indicates that system malfunction in the past is detected, but the system is pres-
IGN COUNTER ently normal.
(0 – 39) NOTE:
Each time when ignition switch is turned OFF to ON, numerical number increases in 1→2→3...38→39.
When the operation number of times exceeds 39, the number do not increase and “39” is displayed until self-
diagnosis is erased.
DATA MONITOR MODE

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
Monitor item (Unit) Remarks

BATTERY VOLT (V) Displays the power supply voltage for EPS control unit.
TORQUE SENSOR (Nm) Displays steering wheel turning force detected by torque sensor.
MOTOR CURRENT (A) Displays the current value consumed by EPS motor.*1
MOTOR SIG (A) Displays the current commanded value to EPS motor.
ASSIST TORQUE (Nm) Displays assist torque of EPS motor being output by the electric power steering.
C/U TEMP (°C) or (°F) Displays the temperature of the EPS control unit.
Normally displays 100%. In case of an excessive stationary steering, the assist
ASSIST LEVEL (%)
curvature gradually falls. However, it return to 100% when left standing.*2
VEHICLE SPEED (km/h) or (MPH) Vehicle speed is displayed from vehicle speed signal via CAN communication.*3
WARNING LAMP (On/Off) EPS warning lamp control status is displayed.
ENGINE STATUS (Stop/Run) Engine speed is displayed from engine status signal via CAN communication.
STC-16
Monitor item (Unit) Remarks
A
ST TORQUE STATUS (On/Off) Displays the operating state of steering wheel.
EPS ASSIST PERMIS (On/Off) Displays assist permission status of EPS system.
STOP/START STATUS (INACT/AUTO ST/ACT/ B
Displays stop/start status.
CANCEL)
IPA ON (Off1/Off2/Off3/On) Displays the status of around view monitor with park assist.
IPA STATUS 1 (On/Off) Displays the operating state of around view monitor with park assist. C
STOP/START SYSTEM (On/Off) Displays permission status of stop/start system.
IPA STATUS 2 (Off/On1/On2/On3) Displays the operating state of around view monitor with park assist.
D
IPA STATUS 3 (NORMAL/MALF) Displays the status of around view monitor with park assist.
IPA TARGET CURRENT (A) Displays a command current value from around view monitor with park assist.
EPS CONTROL CURRENT (A) Displays a current value of motor. E
*1: Almost in accordance with the value of “MOTOR SIG”. It is not a malfunction though these values are not
accorded when steering quickly.
*2: Normally displays 100%. In case of an excessive stationary steering, the assist curvature gradually falls. F
However, it returns to 100% when left standing.
*3: It is not a malfunction, though it might not be corresponding just after ignition switch in turned ON.
STC
STC-17
EPS CONTROL UNIT
< ECU DIAGNOSIS INFORMATION >
ECU DIAGNOSIS INFORMATION
EPS CONTROL UNIT
Reference Value INFOID:0000000010688408
VALUES ON THE DIAGNOSIS TOOL

CAUTION:
The output signal indicates the EPS control unit calculation data. The normal values will be displayed
even in the event that the output circuit (harness) is open.
NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.
Data monitor
Monitor item
Condition Value/Status
BATTERY VOLT Ignition switch: ON 10.5 V – 16 V
Steering wheel: Not steering (There is
Approx. 0 Nm
no steering force)
TORQUE SENSOR Engine running
Steering wheel: Right turn Positive value (Nm)
Steering wheel: Left turn Negative value (Nm)
Approx. 0 A
no steering force)
MOTOR CURRENT Engine running
Displays consumption current of
Steering wheel: Right or left turn
EPS motor (A)*1
Approx. 0 A
no steering force)
MOTOR SIG Engine running
Steering wheel: Right turn Positive value (A)
Steering wheel: Left turn Negative value (A)
Approx. 0 Nm
no steering force)
ASSIST TORQUE Engine running
Displays temperature of inside of
C/U TEMP Ignition switch ON or engine running
EPS control unit [°C (°F)]
ASSIST LEVEL Engine running 100 % *2
Vehicle stopped 0 km/h (0 mph)
VEHICLE SPEED Approximately equal to the indication

While driving on speedometer*3
(inside of ±10%)
EPS warning lamp: ON On
WARNING LAMP
EPS warning lamp: OFF Off
Engine not running Stop
ENGINE STATUS
Engine running Run
Off
ST TORQUE STATUS Engine running no steering force)
Steering wheel: Right or left turn On
Status other than stop/start system On
EPS ASSIST PERMIS Engine running
In stop/start system operation Off
STC-18
EPS CONTROL UNIT
Data monitor
Monitor item A
Condition Value/Status
When stop/start system is inactive INACT
When stop/start system is restarting AUTO ST B
STOP/START STATUS
When stop/start system is active ACT
When stop/start system is interrupted CANCEL
EPS system operating conditions are not satisfied Off1 C
EPS system or around view monitor with park assist is abnormal Off2
IPA ON Assist torque is larger than a command value from around view
Off3 D
monitor with park assist
Normal condition On
Around view monitor with park assist is in operation On E
IPA STATUS 1
Around view monitor with park assist is not in operation Off
When stop/start system is active On
STOP/START SYSTEM
When stop/start system is prohibited Off F
Around view monitor with park assist is not in operation Off
Around view monitor with park assist is in operation (steering
On1 STC
wheel is not turned)
The following cases
• Around view monitor with park assist in operation
IPA STATUS 2 On2 H
• Steering wheel is turned
• Sonar is not operation
The following cases
• Around view monitor with park assist in operation I
On3
• Steering wheel is turned
• Sonar is operation
Around view monitor with park assist is normal NORMAL
IPA STATUS 3 J
Around view monitor with park assist is abnormal MALF
IPA TARGET CURRENT Around view monitor with park assist is in operation 0 – 70(A)
EPS CONTROL CUR- K
EPS system is in operation 0 – 90 (A)
RENT
*1: Almost in accordance with the value of “MOTOR SIG”. It is not a malfunction though these values are not
accorded when steering quickly. L
*2: Normally displays 100%. In case of an excessive stationary steering, the assist curvature gradually falls.
However, it returns to 100% when left standing.
*3: It is not a malfunction, though it might not be corresponding just after ignition switch in turned ON. M
TERMINAL LAYOUT
P
JSGIA1434ZZ
PHYSICAL VALUES
STC-19
EPS CONTROL UNIT
Terminal No.
Description Value
(Wire Color) Condition
(Approx.)
+ − Signal name Input/Output
1
— CAN-L Input/Output — —
(P)
2
— CAN-H Input/Output — —
(L)
4 Ignition switch: ON 10.5 V – 16 V

Ground Ignition power supply Input
(SB) Ignition switch: OFF Approx. 0 V
9
Ground Battery power supply Input Always 10.5 V – 16 V
(R)
10
Ground Ground — Always Approx. 0 V
(B)
Fail-Safe INFOID:0000000010688409
• If any malfunction occurs in the system and control unit detects the malfunction, Electric power steering
warning lamp on combination meter turns ON to indicate system malfunction.
• When Electric power steering warning lamp is ON, the system enters into a manual steering state. (Control
turning force steering wheel becomes heavy.)

C1601 Assist is reduced according to voltage, resulting in manual steering state.
C1604
C1606
Manual steering state.
C1607
C1608
C1609 Constant steering assist level state
Normal control
U1000 NOTE:
If the cause is in a different ECU, the state changes to fixed steering assist force.
U1010 Normal control
U1970 Around view monitor with park assist function stops (controlled by around view monitor).
U1971 Around view monitor with park assist function stops (controlled by sonar).
Protection Function INFOID:0000000010688410
EPS control unit decreases the output signal to EPS motor while extremely using the power steering function
(e.g., full steering) consecutively for protecting EPS motor and EPS control unit (Overload protection control).
While activating overload protection control, the assist torque gradually decreases, and the steering wheel
turning force becomes heavy. The normal assist torque is recovered if the steering wheel is not turned for a
while.
DTC Inspection Priority Chart INFOID:0000000010688411
When multiple DTCs are detected simultaneously, check one by one depending on the following priority list.
Priority Priority order item (DTC)

• U1000 CAN COMM CIRCUIT
1
• U1010 CONTROL UNIT (CAN)
• U1970 AROUND VIEW MONITOR SYSTEM
2 • U1971 SONAR SYSTEM
• C1609 CAN VHCL SPEED
STC-20
EPS CONTROL UNIT
Priority Priority order item (DTC)
A
3 C1601 BATTERY VOLT
• C1604 TORQUE SENSOR
• C1606 EPS MOTOR
4 B
• C1607 EEPROM
• C1608 CONTROL UNIT
DTC Index INFOID:0000000010688412

C
DTC Items Electric power steering warning lamp Reference

C1601 BATTERY VOLT ON STC-27, "DTC Description"
D
C1604 TORQUE SENSOR ON STC-30, "DTC Description"

C1606 EPS MOTOR ON STC-31, "DTC Description" E
C1607 EEPROM OFF STC-32, "DTC Description"
C1608 CONTROL UNIT ON / OFF* STC-32, "DTC Description"
C1609 CAN VHCL SPEED OFF STC-33, "DTC Description"
F
U1000 CAN COMM CIRCUIT OFF STC-34, "DTC Description"

U1010 CONTROL UNIT (CAN) OFF STC-35, "DTC Description" STC
U1970 AROUND VIEW MONITOR OFF STC-36, "DTC Description"
U1971 SONAR OFF STC-38, "DTC Description"
*: Even if DTC is detected, electric power steering warning lamp does not turns ON when assist torque is gen- H
erated.
STC-21
EPS SYSTEM
< WIRING DIAGRAM >
WIRING DIAGRAM
EPS SYSTEM
Wiring Diagram INFOID:0000000010688413
JRGWC1218GB
STC-22
EPS SYSTEM
< WIRING DIAGRAM >
STC
JRGWC1219GB
STC-23
DIAGNOSIS AND REPAIR WORKFLOW
< BASIC INSPECTION >
BASIC INSPECTION
Work Flow INFOID:0000000010688414
DETAILED FLOW
1.INTERVIEW FROM THE CUSTOMER
Clarify customer complaints before inspection. First of all, perform an interview utilizing STC-25, "Diagnostic
Work Sheet" and reproduce symptoms as well as fully understand it. Ask customer about his/her complaints
carefully. Check symptoms by driving vehicle with customer, if necessary.
CAUTION:
Customers are not professional. Never guess easily like “maybe the customer means that...,” or
“maybe the customer mentions this symptom”.
>> GO TO 2.
2.CHECK SYMPTOM
Reproduce the symptom that is indicated by the customer, based on the information from the customer
obtained by interview. Also check that the symptom is not caused by protection function. Refer to STC-20,
"Protection Function".
CAUTION:
When the symptom is caused by normal operation, fully inspect each portion and obtain the under-
standing of customer that the symptom is not caused by a malfunction.
>> GO TO 3.
3.PERFORM SELF-DIAGNOSIS
With CONSULT
Perform self-diagnosis.
Is any DTC detected?
YES >> Record or print DTC and freeze frame data (FFD). GO TO 4.
NO >> GO TO 6.
4.RECHECK SYMPTOM
With CONSULT
1. Erase self-diagnostic results.
2. Perform DTC confirmation procedures for the error detected system.
NOTE:
If some DTCs are detected at the same time, determine the order for performing the diagnosis based on STC-
20, "DTC Inspection Priority Chart".
YES >> GO TO 5.
NO >> Check harness and connectors based on the information obtained by interview. Refer to GI-44,
"Intermittent Incident".
5.REPAIR OR REPLACE ERROR-DETECTED PARTS
• Repair or replace error-detected parts.
• Reconnect part or connector after repairing or replacing.
• When DTC is detected, erase self-diagnostic results for “EPS”.
>> GO TO 7.
6.IDENTIFY ERROR-DETECTED SYSTEM BY SYMPTOM DIAGNOSIS
Estimate error-detected system based on symptom diagnosis and perform inspection.
Can the error-detected system be identified?
STC-24
YES >> GO TO 7.
NO >> Check harness and connectors based on the information obtained by interview. Refer to GI-44, A
"Intermittent Incident".
7.FINAL CHECK
B
With CONSULT
1. Check the reference value for EPS control unit.
2. Recheck the symptom and check that symptom is not reproduced on the same conditions.
Is the symptom reproduced? C
YES >> GO TO 3.
NO >> INSPECTION END
D
Diagnostic Work Sheet INFOID:0000000010688415
Description E
• In general, customers have their own criteria for a problem. Therefore, it is important to understand the
symptom and status well enough by asking the customer about his/her concerns carefully. To systemize all
the information for the diagnosis, prepare the interview sheet referring to the interview points.
• In some cases, multiple conditions that appear simultaneously may cause a DTC to be detected. F
Interview sheet sample

STC
Interview sheet
Registration Initial year
Customer number registration
MR/MS H
name
Vehicle type VIN
Storage date Engine Mileage km (Mile)
The steering wheel position (center) is in the wrong position. I
EPS warning lamp turns on.
Symptom Noise Vibration
J
Others
( )
First occurrence Recently Others ( )
K
Frequency of occurrence Always Under a certain conditions of Sometimes (time(s)/day)
Irrelevant
Climate con- Weather Fine Cloud Rain Snow Others ( ) L

ditions Temperature Hot Warm Cool Cold Temperature Approx. °C (°F)
Relative humidity High Moderate Low
M
Urban area Suburb area High way
Road conditions
Mounting road (uphill or down hill) Rough road
Irrelevant
When engine starts During idling
N
Operation conditions, etc. During driving During acceleration At constant speed driving
During deceleration During cornering (right curve or left curve)
During steering O
STC-25
Interview sheet
Registration Initial year
Customer number registration
MR/MS
name
Vehicle type VIN
Storage date Engine Mileage km (Mile)
Other conditions
Memo
STC-26
C1601 BATTERY POWER SUPPLY
< DTC/CIRCUIT DIAGNOSIS >
DTC/CIRCUIT DIAGNOSIS A
DTC Description INFOID:0000000010688416
B
DTC DETECTION LOGIC

C
Display item
DTC Malfunction detected condition
(Trouble diagnosis content)
BATTERY VOLT When a power supply voltage to the EPS control unit is maintained at
C1601 D
(Battery voltage) 16 V or more or at less than 9 V continuously for 0.5 second or more.
POSSIBLE CAUSE
• Harness or connector E
• EPS control unit (steering column assembly)
• Fuse
• Power supply system
F
• Battery
FAIL-SAFE
EPS system enters into a manual steering state. STC
DTC CONFIRMATION PROCEDURE
1.PRECONDITIONING H
If “DTC CONFIRMATION PROCEDURE” has been previously conducted, always turn ignition switch OFF and
wait at least 10 seconds before conducting the next test.
I
>> GO TO 2.
2.DTC REPRODUCTION PROCEDURE
J
With CONSULT
1. Turn the ignition switch OFF to ON.
2. Perform “EPS/DAST 3” self-diagnosis.
K
Is DTC “C1601” detected?
YES >> Proceed to diagnosis procedure. Refer to STC-27, "Diagnosis Procedure".
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident".
L
NO-2 >> INSPECTION END
Diagnosis Procedure INFOID:0000000010688417
M
1.CHECK EPS CONTROL UNIT GROUND CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect EPS control unit harness connector. N
3. Check continuity between EPS control unit harness connector terminal and ground.
EPS control unit O

— Continuity
Connector Terminal
M38 10 Ground Existed
P
Is the inspection result normal?
YES >> GO TO 2.
NO >> Repair open circuit or short to ground or short to power in harness or connectors.
2.CHECK EPS CONTROL UNIT POWER SUPPLY CIRCUIT (1)
1. Check voltage between EPS control unit harness connector terminals and ground.
STC-27
EPS control unit

— Voltage
Connector Terminal
M37 4 Ground Approx. 0 V
2. Turn ignition switch ON.
CAUTION:
Never start the engine.
3. Check voltage between EPS control unit harness connector and ground.
EPS control unit

— Voltage
Connector Terminal
M37 4 Ground 10.5 – 16 V
YES >> GO TO 4.
NO >> GO TO 3.
2. Check the 10A fuse (#30).
3. Check the harness for open or short between EPS control unit harness connector and the fuse block (J/
B).
EPS control unit Fuse block (J/B)

Continuity
Connector Terminal Connector Terminal
M37 4 M3 7C Existed
YES >> Perform the trouble diagnosis for ignition power supply circuit. Refer to STC-22, "Wiring Diagram".
NO >> Repair or replace error-detected parts.
EPS control unit

— Voltage
Connector Terminal
M38 9 Ground 10.5 – 16 V
CAUTION:
EPS control unit

— Voltage
Connector Terminal
M38 9 Ground 10.5 – 16 V
YES >> GO TO 6.
NO >> GO TO 5.
2. Check the 50A fusible link (F). (Except for R9M engine models)
3. Check the 50A fusible link (H). (Except for R9M engine models)
4. Check the 50A fusible link (J). (For R9M engine models)
5. Check the 50A fusible link (I). (For R9M engine models)
STC-28
6. Check the harness for open or short between EPS control unit harness connector No.9 terminal and the
50A fusible link (F). (Except for R9M engine models.) A
50A fusible link (H). (Except for R9M engine models.)
B
50A fusible link (J). (For R9M engine models)
50A fusible link (I). (For R9M engine models)
Is the inspection result normal? C
YES >> Perform the trouble diagnosis for power supply circuit. Refer to PG-12, "Wiring Diagram - BAT-
TERY POWER SUPPLY -".
NO >> Repair or replace error-detected parts. D
6.CHECK TERMINALS AND HARNESS CONNECTORS
Check the EPS control unit pin terminals for damage or loose connection with harness connector. E
YES >> Replace steering column assembly. Refer to ST-13, "Removal and Installation".
NO >> Repair or replace error-detected parts. F
STC
STC-29
C1604 TORQUE SENSOR
C1604 TORQUE SENSOR
DTC DETECTION LOGIC
Display item
TORQUE SENSOR
C1604 When torque sensor output signal is malfunctioning.
(Torque sensor)
POSSIBLE CAUSE
• Harness or connector
• Torque sensor
FAIL-SAFE
EPS system enters into a manual steering state.
1.PRECONDITIONING
>> GO TO 2.
With CONSULT

Check EPS control unit (steering column assembly) pin terminals for damage or loose connection with har-
ness connector.
YES >> GO TO 2.
NO >> Repair or replace malfunctioning parts.
With CONSULT
2. Erase self-diagnostic results for “EPS/DAST 3”.
3. Turn the ignition switch OFF, and then wait 10 seconds and more.
4. Perform self-diagnosis for “EPS/DAST 3”.
NO >> Check pin terminal and connection of each harness connector for malfunctioning conditions.
STC-30
C1606 EPS MOTOR
C1606 EPS MOTOR
A
DTC DETECTION LOGIC B
Display item
(Trouble diagnosis content) C
EPS MOTOR When the motor driver malfunction of EPS control unit or EPS motor
C1606
(EPS motor) malfunction is detected.
POSSIBLE CAUSE D
• EPS motor (steering column assembly)
• EPS control unit (steering column assembly) E
FAIL-SAFE
F
1.PRECONDITIONING
STC
H
>> GO TO 2.
With CONSULT I
Is DTC “C1606” detected? J
NO-2 >> INSPECTION END K
1.CHECK TERMINALS AND HARNESS CONNECTORS L
ness connector.
M
YES >> GO TO 2.
NO >> Repair or replace malfunctioning parts.
N
With CONSULT
1. Turn the ignition switch OFF to ON. O
4. Perform self-diagnosis for “EPS/DAST 3”. P
STC-31
C1607, C1608 EPS CONTROL UNIT
C1607, C1608 EPS CONTROL UNIT
DTC DETECTION LOGIC
Display item
EEPROM When the memory (EEPROM) system malfunction is detected in EPS
C1607
(EEPROM) control unit.
CONTROL UNIT
C1608 When the internal malfunction is detected in EPS control unit.
(EPS control unit)
POSSIBLE CAUSE
EPS control unit (steering column assembly)
FAIL-SAFE
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
Is DTC “C1607” or “C1608” detected?

ness connector.
YES >> GO TO 2.
With CONSULT
Is DTC “C1607” or “C1608” detected?
STC-32
C1609 VEHICLE SPEED SIGNAL
C1609 VEHICLE SPEED SIGNAL
A
DTC DETECTION LOGIC B
Display item
(Trouble diagnosis content) C
CAN VHCL SPEED • A malfunction is detected in the vehicle speed signal received with
C1609
(CAN vehicle speed signal) CAN communication.
POSSIBLE CAUSE D
(CAN communication line)
• EPS control unit (steering column assembly) E
• ABS malfunction
• Vehicle speed signal error
FAIL-SAFE F
EPS system enters into a constant steering assist level state.
STC
1.PRECONDITIONING
wait at least 10 seconds before conducting the next test. H
>> GO TO 2.
I
With CONSULT
1. Turn the ignition switch OFF to ON. J
YES >> Proceed to diagnosis procedure. Refer to STC-33, "Diagnosis Procedure". K
Diagnosis Procedure INFOID:0000000010688425 L
1.PERFORM ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS

M
With CONSULT
2. Perform “ABS” self-diagnosis.
Is any DTC detected? N
YES >> Check the DTC. Refer to BRC-84, "DTC Index".
NO >> GO TO 2.
2.PERFORM SELF-DIAGNOSIS O
With CONSULT
1. Turn the ignition switch OFF to ON. P
STC-33
U1000 CAN COMM CIRCUIT
U1000 CAN COMM CIRCUIT
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wiring.
Each control unit communicate data but selectively reads required data only.
DTC DETECTION LOGIC
Display item
CAN COMM CIRCUIT EPS control unit is not transmitting/receiving CAN communi-
U1000
(CAN communication circuit) cation signal for 2 seconds or more.
POSSIBLE CAUSE
• CAN communication error
FAIL-SAFE
System continue normal control.
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
Is DTC “U1000” detected?
Proceed to LAN-17, "Trouble Diagnosis Flow Chart".
STC-34
U1010 CONTROL UNIT (CAN)
U1010 CONTROL UNIT (CAN)
A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with
2communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wir- C
ing. Each control unit communicate data but selectively reads required data only.
DTC DETECTION LOGIC
D
Display item
CONTROL UNIT (CAN) When detecting error during the initial diagnosis of CAN control-
E
U1010
(Control unit [CAN communication]) ler to EPS control unit.
POSSIBLE CAUSE F
FAIL-SAFE
System continue normal control. STC
1.PRECONDITIONING H
I
>> GO TO 2.
2.DTC REPRODUCTION PROCEDURE J
With CONSULT
2. Perform “EPS/DAST 3” self-diagnosis. K
NO-1 >> To check malfunction symptom before repair: Refer to GI-44, "Intermittent Incident". L
M
1.CHECK SELF-DIAGNOSIS RESULTS
Check that there is no malfunction in EPS control unit harness connector or disconnection.
Is the inspection result normal? N
O
STC-35
U1970 AROUND VIEW MONITOR SYSTEM
DTC DETECTION LOGIC
Display item
AROUND VIEW MONITOR CAN communication signal of around view monitor control unit is abnormal for
U1970
(Around view monitor) 2 consecutive seconds or more.
POSSIBLE CAUSE
• Around view monitor control unit
FAIL-SAFE
Around view monitor with park assist function stops (controlled by around view monitor).
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1.CHECK AROUND VIEW MONITOR CONTROL UNIT

2. Disconnect around view monitor control unit harness connector.
3. Check the around view monitor control unit pin terminals (CAN communication lines) for damage or loose
connection with harness connector.
YES >> GO TO 2.
NO >> Recheck terminals for damage or loose connection. Refer toLAN-7, "Precautions for Harness
Repair".
2.PERFORM SELF-DIAGNOSIS (AROUND VIEW MONITOR CONTROL UNIT)
With CONSULT
1. Connect around view monitor control unit harness connector.
2. Connect EPS control unit harness connector.
3. Erase self-diagnostic results for “AVM”.
5. Turn the ignition switch ON.
6. Perform self-diagnosis for “AVM”.
STC-36
YES >> Check the DTC. Refer to AV-120, "DTC Index".
NO >> GO TO 3. A
With CONSULT B
4. Perform the self-diagnosis of all systems. C
Is DTC “U1000”,“U1970” or other DTC detected?
YES (“U1000”)>>Refer to LAN-17, "Trouble Diagnosis Flow Chart".
YES (“U1970”)>>Replace around view monitor control unit. Refer to AV-268, "Removal and Installation". D
YES (Other DTC)>>Check the DTC.
E
STC
STC-37
U1971 SONAR SYSTEM
U1971 SONAR SYSTEM
DTC DETECTION LOGIC
Display item
SONAR CAN communication signal of sonar control unit is abnormal for 2 consecutive
U1971
(Sonar) seconds or more.
POSSIBLE CAUSE
• Sonar control unit
FAIL-SAFE
Around view monitor with park assist function stops (controlled by sonar).
1.PRECONDITIONING
>> GO TO 2.
With CONSULT
1.CHECK SONARCONTROL UNIT

2. Disconnect sonar control unit harness connector.
3. Check the sonar control unit pin terminals (CAN communication lines) for damage or loose connection
with harness connector.
YES >> GO TO 2.
NO >> Recheck terminals for damage or loose connection. Refer toLAN-7, "Precautions for Harness
Repair".
2.PERFORM SELF-DIAGNOSIS (SONAR CONTROL UNIT)
With CONSULT
1. Connect sonar control unit harness connector.
2. Connect EPS control unit harness connector.
3. Erase self-diagnostic results for “SONAR”.
6. Perform self-diagnosis for “SONAR”.
STC-38
U1971 SONAR SYSTEM
YES >> Check the DTC. Refer to SN-143, "DTC Index".
NO >> GO TO 3. A
With CONSULT B
4. Perform the self-diagnosis of all systems. C
Is DTC “U1000”,“U1971” or other DTC detected?
YES (“U1000”)>>Refer to LAN-17, "Trouble Diagnosis Flow Chart".
YES (“U1971”)>>Replace sonar control unit. Refer to SN-237, "Removal and Installation". D
YES (Other DTC)>>Check the DTC.
E
STC
STC-39
POWER SUPPLY AND GROUND CIRCUIT
1.CHECK IGNITION POWER SUPPLY FOR EPS CONTROL UNIT

2. Disconnect EPS control unit harness connector.
EPS control unit

— Voltage
Connector Terminal
M37 4 Ground Approx. 0 V
CAUTION:
EPS control unit

— Voltage
Connector Terminal
M37 4 Ground 10.5 – 16 V
YES >> GO TO 3.
NO >> GO TO 2.
2.CHECK IGNITION POWER SUPPLY CIRCUIT FOR EPS CONTROL UNIT
2. Check the 10A fuse (#30).
3. Check continuity between EPS control unit harness connector and the fuse block (J/B).
EPS control unit Fuse block (J/B)

Continuity
Connector Terminal Connector Terminal
M37 4 M3 7C Existed
YES >> Perform the trouble diagnosis for ignition power supply circuit.
3.CHECK BATTERY POWER SUPPLY FOR EPS CONTROL UNIT
EPS control unit

— Voltage
Connector Terminal
M38 9 Ground 10.5 – 16 V
CAUTION:
EPS control unit

— Voltage
Connector Terminal
M38 9 Ground 10.5 – 16 V
STC-40
YES >> GO TO 5.
NO >> GO TO 4. A
4.CHECK BATTERY POWER SUPPLY CIRCUIT FOR EPS CONTROL UNIT
B
2. Check the 50A fusible link (F). (Except for R9M engine models)
3. Check the 50A fusible link (H). (Except for R9M engine models)
4. Check the 50A fusible link (J). (For R9M engine models)
5. Check the 50A fusible link (I). (For R9M engine models) C
50A fusible link (F). (Except for R9M engine models)
D
50A fusible link (H). (Except for R9M engine models)
50A fusible link (J). (For R9M engine models)
9. Check the harness for open or short between EPS control unit harness connector No.9 terminal and the E
50A fusible link (I). (For R9M engine models)
YES >> Perform the trouble diagnosis for power supply circuit. F
5.CHECK EPS CONTROL UNIT GROUND CIRCUIT
STC
Check continuity between EPS control unit harness connector and ground.
EPS control unit H

— Continuity
Connector Terminal
M38 10 Ground Existed
Is the inspection result normal? I
YES >> GO TO 6.
J
6.CHECK TERMINAL
2. Check EPS control unit pin terminals for damage or loose connection with harness connector. K
3. Check fuse block (J/B) pin terminals for damage or loose connection with harness connector.
YES >> INSPECTION END L
STC-41
ELECTRIC POWER STEERING WARNING LAMP
ELECTRIC POWER STEERING WARNING LAMP
Component Function Check INFOID:0000000010688433
1.CHECK THE ILLUMINATION OF THE ELECTRIC POWER STEERING WARNING LAMP

Check that the electric power steering warning lamp turns ON when ignition switch turns ON. Then, electric
power steering warning lamp turns OFF after the engine is started.
YES >> INSPECTION END
NO >> Perform trouble diagnosis. Refer to STC-42, "Diagnosis Procedure".
With CONSULT
YES >> Check the DTC. Refer to STC-21, "DTC Index".
NO >> GO TO 2.
2.CHECK ELECTRIC POWER STEERING WARNING LAMP SIGNAL
With CONSULT
1. Select “DATA MONITOR” of “EPS/DAST 3” and select “WARNING LAMP”.
2. Check that the item in “DATA MONITOR” is “On”.
3. Start the engine.
CAUTION:
Never drive the vehicle.
4. Check that the item in “DATA MONITOR” is “Off”.
YES >> Perform the trouble diagnosis for combination meter power supply circuit. Refer to MWI-129,
"COMBINATION METER : Diagnosis Procedure".
NO >> Replace steering column assembly. Refer to ST-13, "Removal and Installation".
STC-42
ELECTRIC POWER STEERING WARNING LAMP DOES NOT TURN ON
< SYMPTOM DIAGNOSIS >
SYMPTOM DIAGNOSIS A
ELECTRIC POWER STEERING WARNING LAMP DOES NOT TURN ON
Description INFOID:0000000010688435
B
Electric power steering warning lamp does not turn ON when turning ignition switch ON from OFF. (Check the
illumination of the electric power steering warning lamp.)
C
1.CHECK ELECTRIC POWER STEERING WARNING LAMP D

Perform the trouble diagnosis of electric power steering warning lamp. Refer to STC-42, "Diagnosis Proce-
dure".
Is the inspection result normal? E
YES >> Check that there is no malfunction in each harness connector pin terminal or disconnection.
NO >> Repair or replace the specific malfunctioning part.
F
STC
STC-43
ELECTRIC POWER STEERING WARNING LAMP DOES NOT TURN OFF
ELECTRIC POWER STEERING WARNING LAMP DOES NOT TURN OFF
Electric power steering warning lamp does not turn OFF several seconds after engine started.
With CONSULT
NO >> GO TO 2.
2.CHECK ELECTRIC POWER STEERING WARNING LAMP
Perform the trouble diagnosis of electric power steering warning lamp. Refer to STC-42, "Diagnosis Proce-
dure".
YES >> GO TO 3.
3.CHECK EPS CONTROL UNIT POWER SUPPLY AND GROUND CIRCUIT
Perform the trouble diagnosis of EPS control unit power supply and ground. Refer to STC-27, "Diagnosis Pro-
cedure".
YES >> Check that there is no malfunction in each harness connector pin terminal or disconnection.
STC-44
STEERING WHEEL TURNING FORCE IS HEAVY OR LIGHT
A
Steering wheel turning force is heavy or light. B

1.PERFORM SELF-DIAGNOSIS C
With CONSULT
2. Perform “EPS/DAST 3” self-diagnosis. D
NO >> GO TO 2. E

Check that the electric power steering warning lamp turns ON when ignition switch turns ON. Then, electric F
power steering warning lamp turns OFF after the engine is started.
YES >> GO TO 3. STC
NO >> Perform trouble diagnosis of electric power steering warning lamp. Refer to STC-42, "Diagnosis
Procedure".
3.CHECK EPS CONTROL UNIT SIGNAL (1) H
With CONSULT
CAUTION: I
2. Select “ASSIST LEVEL” in “DATA MONITOR” in “EPS/DAST 3”.
Dose the item in “DATA MONITOR” indicate “100%”? J
YES >> GO TO 6.
NO >> GO TO 4.
4.CHECK EPS CONTROL UNIT SIGNAL (2) K
With CONSULT
Select “BATTERY VOLT” in “DATA MONITOR” in “EPS/DAST 3”.
L
Dose the item in “DATA MONITOR” indicate “10.5 V” or more?
YES >> GO TO 5.
NO >> Perform trouble diagnosis of EPS control unit power supply and ground. Refer to STC-27, "Diag- M
nosis Procedure".
5.CHECK EPS CONTROL UNIT SIGNAL (3)
With CONSULT N
2. Stop the EPS system until the item in “DATA MONITOR” becomes “100%”.
NOTE: O
While stopping the EPS system, do not turn steering wheel.
3. Check that the symptom continues.
Dose the symptom continue?
P
YES >> GO TO 6.
NO >> The assist torque decreases because of protection function. This is not malfunction. INSPEC-
TION END
With CONSULT
STC-45
CAUTION:
2. Turn steering wheel from full left stop to full right stop.
3. Select “TORQUE SENSOR” in “DATA MONITOR” in “EPS/DAST 3”.
Monitor item Condition Display value

Steering wheel: Not steer-
ing (There is no steering Approx. 0 Nm
force)
TORQUE SENSOR
YES-1 (Models without Stop/Start System)>>GO TO 9.
YES-2 (Models with Stop/Start System)>>GO TO 8.
NO >> GO TO 7.
7.CHECK EPS MOTOR
Perform the trouble diagnosis of EPS motor. Refer to STC-31, "Diagnosis Procedure".
YES >> GO TO 9.
8.CHECK STOP/START SYSTEM
With CONSULT
CAUTION:
2. Select “ST TORQUE STATUS” and “STOP/START SYSTEM” in “DATA MONITOR” in “EPS/DAST 3”.
3. Operate stop/start system. Refer to STC-18, "Reference Value".

ST TORQUE STA- Steering wheel: Not steering (There is
Off
TUS no steering force)
STOP/START SYS-
When stop/start system is active On
TEM
4. Turn the steering wheel.

ST TORQUE STA-
Steering wheel: Right or left turn On
TUS
STOP/START SYS-
When stop/start system is prohibited Off
TEM
YES >> GO TO 9.
NO >> Check the ECM. Refer to EC-874, "CONSULT Function".
9.CHECK STEERING WHEEL TURNING FORCE
Check the steering wheel turning force. Refer to ST-9, "Inspection".
NO >> Check the steering wheel turning force for mechanical malfunction. Refer to ST-26, "Inspection".
STC-46
UNBALANCE STEERING WHEEL TURNING FORCE AND RETURN BETWEEN
RIGHT AND LEFT
UNBALANCE STEERING WHEEL TURNING FORCE AND RETURN BE-
A
TWEEN RIGHT AND LEFT
B
Unbalance steering wheel turning force and return between right and left.
C
Check the electric power steering warning lamp while engine is running. D
Does the electric power steering warning lamp turn OFF?
YES >> GO TO 2.
NO >> Refer to STC-44, "Diagnosis Procedure". E
2.CHECK WHEEL ALIGNMENT
1. Check the wheel alignment. Refer to FSU-8, "Inspection".
F
YES >> GO TO 3.
NO >> Adjustment of wheel alignment. Refer to FSU-9, "Adjustment".
STC
3.CHECK EPS CONTROL UNIT SIGNAL
With CONSULT
1. Start the engine. H
CAUTION:
2. Turn steering wheel from full left stop to full right stop. I
3. Select “DATA MONITOR” of “EPS/DAST 3” and select “TORQUE SENSOR”.
4. Perform the torque sensor inspection.
J
ing (There is no steering Approx. 0 Nm
force) K
TORQUE SENSOR
L
YES >> GO TO 5.
NO >> GO TO 4. M
4.CHECK EPS MOTOR
Perform the trouble diagnosis of EPS motor. Refer to STC-31, "Diagnosis Procedure".
N
YES >> GO TO 5.
O
Check the steering wheel turning force. Refer to ST-9, "Inspection".
Is the inspection result normal? P
NO >> Check the steering wheel turning force for mechanical malfunction. Refer to ST-26, "Inspection".
STC-47
UNBALANCE STEERING WHEEL TURNING FORCE (TORQUE VARIATION)
UNBALANCE STEERING WHEEL TURNING FORCE (TORQUE VARIA-
TION)
Unbalance steering wheel turning force (torque variation).

With CONSULT
NO >> GO TO 2.
2.CHECK THE ILLUMINATION OF THE ELECTRIC POWER STEERING WANING LAMP
Check the electric power steering warning lamp while the engine is started.
Does the electric power steering warning lamp turn OFF?
YES >> GO TO 3.
NO >> Refer to STC-42, "Diagnosis Procedure".
3.CHECK STEERING COLUMN AND STEERING GEAR
Check the steering column assembly and steering gear assembly.
• Steering column assembly. Refer to ST-13, "Exploded View".
• Steering gear assembly. Refer to the following.
- LHD ST-20, "LHD : Exploded View".
- RHD ST-21, "RHD : Exploded View".
YES >> GO TO 4.
With CONSULT
CAUTION:
Dose the item in “DATA MONITOR” maintain “100%”?
YES >> GO TO 7.
NO >> GO TO 5.
With CONSULT
Select “BATTERY VOLT” in “DATA MONITOR” in “EPS/DAST 3”.
Dose the item in “DATA MONITOR” indicate “10.5 V” or more?
YES >> GO TO 6.
NO >> Perform trouble diagnosis of EPS control unit power supply and ground. Refer to STC-27, "Diag-
nosis Procedure".
With CONSULT
2. Stop the EPS system until the item in “DATA MONITOR” becomes “100%”.
NOTE:
While stopping the EPS system, do not turn steering wheel.
STC-48
UNBALANCE STEERING WHEEL TURNING FORCE (TORQUE VARIATION)
3. Check that the symptom continues.
Dose the symptom continue? A
YES >> GO TO 7.
NO >> The assist torque decreases because of protection function. This is not malfunction. INSPEC-
TION END B
With CONSULT C
CAUTION:
2. Turn steering wheel from full left stop to full right stop. D
3. Select “TORQUE SENSOR” in “DATA MONITOR” in “EPS/DAST 3”.
4. Perform the torque sensor inspection.
E
ing (There is no steering Approx. 0 Nm F
force)
TORQUE SENSOR
Steering wheel: Left turn Negative value (Nm) STC
YES >> GO TO 9.
H
NO >> GO TO 8.
8.CHECK EPS MOTOR
Perform the trouble diagnosis of EPS motor. Refer to STC-31, "Diagnosis Procedure". I
YES >> GO TO 9.
NO >> Repair or replace the specific malfunctioning part. J
Check the steering wheel turning force. Refer to ST-9, "Inspection". K
NO >> Check the steering wheel turning force for mechanical malfunction. Refer to ST-11, "Inspection". L
STC-49
EPS CONTROL UNIT
< REMOVAL AND INSTALLATION >
REMOVAL AND INSTALLATION
EPS CONTROL UNIT
Removal and Installation INFOID:0000000010839934
• The EPS control unit is an integral part of the steering column. If the replacement of the EPS control unit
isnecessary, replace the steering column. Refer to ST-13, "Removal and Installation".
STC-50

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STEERING

SYSTEM DESCRIPTION .............................. 7 DTC/CIRCUIT DIAGNOSIS ......................... 27 K

ELECTRIC POWER STEERING WARNING REMOVAL AND INSTALLATION .............. 50

D4D engine : 20 minutes

• Check the following item when performing the trouble diagnosis.

Steering column assembly L

No. Component Function

EPS motor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Torque sensor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Reduction gear STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

*1: Models around view monitor with park assist

Steering column assembly

No. Component Function

EPS motor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Torque sensor STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Reduction gear STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

*1: With stop/start system

Control unit Signal status

Condition Electric power steering warning lamp

EPS SYSTEM : Fail-Safe INFOID:0000000010699143

DTC Fail-safe condition

Name Design Layout/Function STC

Diagnostic test mode Function

Item name Display item

DATA MONITOR MODE

Monitor item (Unit) Remarks

VALUES ON THE DIAGNOSIS TOOL

VEHICLE SPEED Approximately equal to the indication

4 Ignition switch: ON 10.5 V – 16 V

DTC Fail-safe condition

Protection Function INFOID:0000000010688410

Priority Priority order item (DTC)

DTC Index INFOID:0000000010688412

DTC Items Electric power steering warning lamp Reference

C1604 TORQUE SENSOR ON STC-30, "DTC Description"

U1000 CAN COMM CIRCUIT OFF STC-34, "DTC Description"

Interview sheet sample

Climate con- Weather Fine Cloud Rain Snow Others ( ) L

DTC DETECTION LOGIC

EPS control unit O

EPS control unit

EPS control unit

EPS control unit Fuse block (J/B)

EPS control unit

EPS control unit

DTC DETECTION LOGIC

1.CHECK TERMINALS AND HARNESS CONNECTORS

DTC DETECTION LOGIC B

1.CHECK TERMINALS AND HARNESS CONNECTORS L

DTC DETECTION LOGIC

1.CHECK TERMINALS AND HARNESS CONNECTORS

DTC DETECTION LOGIC B

1.PERFORM ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) SELF-DIAGNOSIS

Proceed to LAN-17, "Trouble Diagnosis Flow Chart".

DTC DETECTION LOGIC

1.CHECK AROUND VIEW MONITOR CONTROL UNIT

DTC DETECTION LOGIC

1.CHECK SONARCONTROL UNIT

1.CHECK IGNITION POWER SUPPLY FOR EPS CONTROL UNIT

Climate con- Weather Fine Cloud Rain Snow Others ( ) L