ELECTRIC POWER STEERING (EPS) ON-BOARD DIAGNOSIS [ELECTRIC POWER STEERING (EPS)]

id0602a1813500

On-Board Diagnostic (OBD) Test Description

• The OBD test inspects the integrity and function of the EPS and outputs the results when requested by the specific tests.

• On-board diagnostic test also:

― Provides a quick inspection of the EPS usually performed at the start of each diagnostic procedure.

― Provides verification after repairs to ensure that no other faults occurred during service.

• The OBD test is divided into 2 tests:

― Read/clear diagnostic results, PID monitor and record.

Read/clear diagnostic results

• This function allows reading or clearing of DTCs in the EPS CM memory.

PID/Data monitor and record

• This function allows access of certain data values, input signals, calculated values, and system status information.

Reading DTCs Procedure

CMDTC self test

1. Connect the M-MDS to the DLC-2.

2. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “Self Test”.

(2) Select “All CMDTCs”.

3. Verify the DTC according to the directions on the screen.

• If any DTCs are displayed, perform troubleshooting according to the corresponding DTC inspection after recording the snapshot data.

4. After completion of repairs, clear all DTCs stored in the EPS. (See Clearing DTCs Procedure.)

ODDTC self test

1. Connect the M-MDS to the DLC-2.

2. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “Self Test”.

(2) Select “Modules”.

(3) Select “EPS”.

3. Verify the DTC according to the directions on the screen.

• If any DTCs are displayed, perform troubleshooting according to the corresponding DTC inspection after recording the snapshot data.

4. After completion of repairs, clear all DTCs stored in the EPS. (See Clearing DTCs Procedure.)

Snapshot Data Access Procedure

1. Connect the M-MDS to the DLC-2.

2. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “Self Test”.

(2) Select “Modules”.

(3) Select “EPS”.

3. Then, select the “Retrieve CMDTCs” and perform procedures according to directions on the M-MDS screen.

4. Retrieve the freeze frame PID data according to the directions on the M-MDS screen.

Note

• Snapshot data appears at the top of the help screen when the displayed DTC is selected.

• Snapshot data stores the currently detected DTC data.

Clearing DTCs Procedure

CMDTC clearing procedure

1. Switch the ignition off and wait for 1 min.

2. Connect the M-MDS to the DLC-2.

3. Switch the ignition ON (engine off).

4. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “Self Test”.

(2) Select “All CMDTCs”.

5. Verify the DTC according to the directions on the screen.

6. Press the clear button on the DTC screen to clear the DTC.

7. Perform DTC inspection. (See Reading DTCs Procedure.)

8. Verify that no DTCs are displayed.

ODDTC clearing procedure

1. Switch the ignition off and wait for 1 min.

2. Connect the M-MDS to the DLC-2.

3. Switch the ignition ON (engine off).

4. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “Self Test”.

(2) Select “Modules”.

(3) Select “EPS”.

5. Verify the DTC according to the directions on the screen.

6. Press the clear button on the DTC screen to clear the DTC.

7. Perform DTC inspection. (See Reading DTCs Procedure.)

8. Verify that no DTCs are displayed.

PID/Data Monitor and Record Procedure

1. Connect the M-MDS to the DLC-2.

2. After the vehicle is identified, select the following items from the initialization screen of the M-MDS.

(1) Select “DataLogger”.

(2) Select “Modules”.

(3) Select “EPS”.

3. Select the applicable PID from the PID table.

4. Verify the PID data according to the directions on the screen.

Note

• The PID data screen function is used for monitoring the calculated value of input/output signals in the module. Therefore, if the monitored value of the output parts is not within the specification, it is necessary to inspect the monitored value of input parts corresponding to the applicable output part control. In addition, because the system does not display an output part malfunction as an abnormality in the monitored value, it is necessary to inspect the output parts individually.

• When detecting DTCs, PIDs related to a malfunctioning system may not display even if the module is normal. Therefore, if a PID is not displayed, it is necessary to verify the DTC, perform malfunction diagnosis of the DTC that was detected, and do repairs.

DTC Table

×: Applicable

—: Not applicable

DTC

Power steering malfunction indicator light illumination status

Diagnosis system component

Fail-safe

Drive cycle

Self test type^*1

Memory function

Page

M-MDS

C200B:02

Illuminated/Indication

Torque sensor

×

—

C, D

×

(See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)

C200B:16

Illuminated/Indication

Torque sensor

×

—

C, D

×

C200B:1C

Illuminated/Indication

Torque sensor

×

—

C, D

×

(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)

C200B:62

Illuminated/Indication

Torque sensor

×

—

C, D

×

See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)

C200B:64

Illuminated/Indication

Torque sensor

×

—

C, D

×

C200B:85

Illuminated/Indication

Torque sensor

×

—

C, D

×

C200C:1C

Illuminated/Indication

Torque sensor

×

—

C, D

×

(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)

C200D:1C

Illuminated/Indication

EPS motor

×

—

C, D

×

(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)

C200D:64

Illuminated/Indication

EPS motor

×

—

C, D

×

U0001:88

Illuminated/Indication

CAN system communication error

×

—

C, D

×

(See DTC U0001:88/U0100:00/U0121:00/U0126:00/U0155:00/U0214:00/U023A:00 [ELECTRIC POWER STEERING (EPS)].)

U0100:00

Illuminated/Indication

Communication error to PCM

×

—

C, D

×

U0121:00

—

Communication error to DSC HU/CM

×

—

C, D

×

U0126:00

—

Communication error to SAS control module

×

—

C, D

×

U0155:00

—

Communication error to instrument cluster

×

—

C, D

×

U0214:00

—

Communication error to start stop unit

×

—

C, D

×

U023A:00

—

Communication error to forward sensing camera (FSC)

×

—

C, D

×

U0338:00

—

Signal error from start stop unit

×

—

C, D

×

(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)

U0401:00

Vehicle speed signal error

•  Illuminated/Indication

Engine speed signal error

•  —

i-stop condition signal error

•  —

Signal (vehicle speed) error from PCM

×

—

C, D

×

(See DTC U0401:00 [ELECTRIC POWER STEERING (EPS)].)

U0415:00

—

Signal error from DSC CM

×

—

C, D

×

(See DTC U0415:00 [ELECTRIC POWER STEERING (EPS)].)

U0423:00

—

Signal (engine switch status) error from instrument cluster

×

—

C, D

×

(See DTC U0423:00 [ELECTRIC POWER STEERING (EPS)])

U0428:00

—

Signal error to SAS control module

×

—

C, D

×

(See DTC U0428:00 [ELECTRIC POWER STEERING (EPS)].)

U0515:00

—

Signal error from start stop unit

×

—

C, D

×

(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)

U053B:00

Illuminated/Indication

Signal error to forward sensing camera (FSC)

×

—

C, D

×

(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)

U053B:61

Illuminated/Indication

Forward sensing camera (FSC)

×

—

C, D

×

(See DTC U053B:61 [ELECTRIC POWER STEERING (EPS)].)

U053B:82

Illuminated/Indication

Signal error to forward sensing camera (FSC)

×

—

C, D

×

(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)

U053B:83

Illuminated/Indication

Signal error to forward sensing camera (FSC)

×

—

C, D

×

U2011:19

Illuminated/Indication

EPS motor

×

—

C, D

×

(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)

U2011:1C

Illuminated/Indication

EPS motor

×

—

C, D

×

U2011:62

Illuminated/Indication

EPS motor

×

—

C, D

×

U2011:72

Illuminated/Indication

EPS motor

×

—

C, D

×

U2011:92

Illuminated/Indication

EPS motor

×

—

C, D

×

U2300:54

—

EPS configuration

×

—

C, D

×

(See DTC U2300:54/U2300:55/U2300:56 [ELECTRIC POWER STEERING (EPS)].)

U2300:55

Illuminated/Indication

EPS configuration

×

—

C, D

×

U2300:56

—

EPS configuration

×

—

C, D

×

U3000:16

Illuminated/Indication

EPS CM

×

—

C, D

×

(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)

U3000:1C

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:28

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:41

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:46

—

EPS CM

×

—

C, D

×

U3000:47

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:49

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:4B

—

EPS CM

×

—

C, D

×

(See DTC U3000:4B [ELECTRIC POWER STEERING (EPS)].)

U3000:61

Illuminated/Indication

EPS CM

×

—

C, D

×

(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)

U3000:73

Illuminated/Indication

EPS CM

×

—

C, D

×

U3000:96

Illuminated/Indication

EPS CM

×

—

C, D

×

U3003:16

Illuminated/Indication

Battery power supply

×

—

C, D

×

(See DTC U3003:16 [ELECTRIC POWER STEERING (EPS)].)

U3003:17

Illuminated/Indication

Battery power supply

×

—

C, D

×

(See DTC U3003:17 [ELECTRIC POWER STEERING (EPS)].)

DTC	Power steering malfunction indicator light illumination status	Diagnosis system component	Fail-safe	Drive cycle	Self test type^*1	Memory function	Page
C200B:02	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)
C200B:16	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200B:1C	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)
C200B:62	Illuminated/Indication	Torque sensor	×	—	C, D	×	See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)
C200B:64	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200B:85	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200C:1C	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)
C200D:1C	Illuminated/Indication	EPS motor	×	—	C, D	×	(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)
C200D:64	Illuminated/Indication	EPS motor	×	—	C, D	×
U0001:88	Illuminated/Indication	CAN system communication error	×	—	C, D	×	(See DTC U0001:88/U0100:00/U0121:00/U0126:00/U0155:00/U0214:00/U023A:00 [ELECTRIC POWER STEERING (EPS)].)
U0100:00	Illuminated/Indication	Communication error to PCM	×	—	C, D	×
U0121:00	—	Communication error to DSC HU/CM	×	—	C, D	×
U0126:00	—	Communication error to SAS control module	×	—	C, D	×
U0155:00	—	Communication error to instrument cluster	×	—	C, D	×
U0214:00	—	Communication error to start stop unit	×	—	C, D	×
U023A:00	—	Communication error to forward sensing camera (FSC)	×	—	C, D	×
U0338:00	—	Signal error from start stop unit	×	—	C, D	×	(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)
U0401:00	Vehicle speed signal error • Illuminated/Indication Engine speed signal error • — i-stop condition signal error • —	Signal (vehicle speed) error from PCM	×	—	C, D	×	(See DTC U0401:00 [ELECTRIC POWER STEERING (EPS)].)
U0415:00	—	Signal error from DSC CM	×	—	C, D	×	(See DTC U0415:00 [ELECTRIC POWER STEERING (EPS)].)
U0423:00	—	Signal (engine switch status) error from instrument cluster	×	—	C, D	×	(See DTC U0423:00 [ELECTRIC POWER STEERING (EPS)])
U0428:00	—	Signal error to SAS control module	×	—	C, D	×	(See DTC U0428:00 [ELECTRIC POWER STEERING (EPS)].)
U0515:00	—	Signal error from start stop unit	×	—	C, D	×	(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)
U053B:00	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)
U053B:61	Illuminated/Indication	Forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:61 [ELECTRIC POWER STEERING (EPS)].)
U053B:82	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)
U053B:83	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×
U2011:19	Illuminated/Indication	EPS motor	×	—	C, D	×	(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)
U2011:1C	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:62	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:72	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:92	Illuminated/Indication	EPS motor	×	—	C, D	×
U2300:54	—	EPS configuration	×	—	C, D	×	(See DTC U2300:54/U2300:55/U2300:56 [ELECTRIC POWER STEERING (EPS)].)
U2300:55	Illuminated/Indication	EPS configuration	×	—	C, D	×
U2300:56	—	EPS configuration	×	—	C, D	×
U3000:16	Illuminated/Indication	EPS CM	×	—	C, D	×	(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)
U3000:1C	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:28	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:41	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:46	—	EPS CM	×	—	C, D	×
U3000:47	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:49	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:4B	—	EPS CM	×	—	C, D	×	(See DTC U3000:4B [ELECTRIC POWER STEERING (EPS)].)
U3000:61	Illuminated/Indication	EPS CM	×	—	C, D	×	(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)
U3000:73	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:96	Illuminated/Indication	EPS CM	×	—	C, D	×
U3003:16	Illuminated/Indication	Battery power supply	×	—	C, D	×	(See DTC U3003:16 [ELECTRIC POWER STEERING (EPS)].)
U3003:17	Illuminated/Indication	Battery power supply	×	—	C, D	×	(See DTC U3003:17 [ELECTRIC POWER STEERING (EPS)].)

*1 :C: CMDTC self test, D: ODDTC self test

Fail-safe Function Table

DTC

Fail-safe control status

M-MDS

C200B:02

Control disabled

C200B:16

Control disabled

C200B:1C

Control is maintained in the backup control

C200B:62

Control disabled

C200B:64

Inhibits normal control, switches to backup control, and controls electric power steering so that steering assist can be maintained

C200B:85

Control disabled

C200C:1C

Control is maintained in the backup control

C200D:1C

Control is maintained in the backup control

C200D:64

Control disabled

U0001:88

Control enabled

U0100:00

Control is maintained in fail mode by gradually changing controlled vehicle speed

U0121:00

Control enabled

U0126:00

Control enabled

U0155:00

Control enabled

U0214:00

Control enabled

U023A:00

Control enabled

U0338:00

Control enabled

U0401:00

•  Vehicle speed signal error

―  Control is maintained in fail mode by gradually changing controlled vehicle speed

•  Engine speed signal error

―  Control enabled

•  i-stop condition signal error

―  EPS i-stop control is not performed, and normal control is maintained

U0415:00

Control enabled

U0423:00

•  Control enabled

―  If the EPS CM detects the signal that a engine speed is below the specified value, it disables assistance

U0428:00

Control enabled

U0515:00

Control enabled

U053B:00

Control enabled

U053B:61

Control enabled

U053B:82

Control enabled

U053B:83

Control enabled

U2011:19

Control disabled

U2011:1C

Control disabled

U2011:62

Control disabled

U2011:72

•  An open circuit malfunction is detected in the one phase of the three-phase stator in the EPS motor

―  Control is maintained in the backup control

•  Other malfunction detected in EPS motor internal circuit

―  Control disabled

U2011:92

Control disabled

U2300:54

Control enabled

U2300:55

Control enabled

U2300:56

Control enabled

U3000:16

Control disabled

U3000:1C

Control disabled

U3000:28

Control disabled

U3000:41

Control disabled

U3000:46

Control is maintained in fail mode

U3000:47

Control disabled

U3000:49

Control disabled

U3000:4B

Control is maintained in fail mode

U3000:61

Control disabled

U3000:73

Control disabled

U3000:96

Control disabled

U3003:16

•  Control is maintained by gradually decreasing the motor control current

―  However, control is inhibited if the power supply voltage is the specified value of less.

U3003:17

Control disabled

DTC	Fail-safe control status
C200B:02	Control disabled
C200B:16	Control disabled
C200B:1C	Control is maintained in the backup control
C200B:62	Control disabled
C200B:64	Inhibits normal control, switches to backup control, and controls electric power steering so that steering assist can be maintained
C200B:85	Control disabled
C200C:1C	Control is maintained in the backup control
C200D:1C	Control is maintained in the backup control
C200D:64	Control disabled
U0001:88	Control enabled
U0100:00	Control is maintained in fail mode by gradually changing controlled vehicle speed
U0121:00	Control enabled
U0126:00	Control enabled
U0155:00	Control enabled
U0214:00	Control enabled
U023A:00	Control enabled
U0338:00	Control enabled
U0401:00	• Vehicle speed signal error ― Control is maintained in fail mode by gradually changing controlled vehicle speed • Engine speed signal error ― Control enabled • i-stop condition signal error ― EPS i-stop control is not performed, and normal control is maintained
U0415:00	Control enabled
U0423:00	• Control enabled ― If the EPS CM detects the signal that a engine speed is below the specified value, it disables assistance
U0428:00	Control enabled
U0515:00	Control enabled
U053B:00	Control enabled
U053B:61	Control enabled
U053B:82	Control enabled
U053B:83	Control enabled
U2011:19	Control disabled
U2011:1C	Control disabled
U2011:62	Control disabled
U2011:72	• An open circuit malfunction is detected in the one phase of the three-phase stator in the EPS motor ― Control is maintained in the backup control • Other malfunction detected in EPS motor internal circuit ― Control disabled
U2011:92	Control disabled
U2300:54	Control enabled
U2300:55	Control enabled
U2300:56	Control enabled
U3000:16	Control disabled
U3000:1C	Control disabled
U3000:28	Control disabled
U3000:41	Control disabled
U3000:46	Control is maintained in fail mode
U3000:47	Control disabled
U3000:49	Control disabled
U3000:4B	Control is maintained in fail mode
U3000:61	Control disabled
U3000:73	Control disabled
U3000:96	Control disabled
U3003:16	• Control is maintained by gradually decreasing the motor control current ― However, control is inhibited if the power supply voltage is the specified value of less.
U3003:17	Control disabled

PID/Data Monitor Table

Note

• If the PID/data monitor value “STR_ANG” is inspected, perform the following procedure before inspecting.

1. Switch the ignition off, and maintain this condition for approx. 3 s.

2. Set the vehicle wheels in the straight-ahead position.

3. Switch the ignition ON (engine off or on).

—: Not applicable

PID name (definition)	Unit/Operation	Operation Status (Reference)	Inspection item(s)	EPS control module terminal
M-MDS display	Unit/Operation	Operation Status (Reference)	Inspection item(s)	EPS control module terminal
CEN_TRQ_S	Nm	• Torque sensor neutral position: Near 0 Nm	• Steering column replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
ECU_IN_TMP	°C, °F	• Displays temperature of board in EPS control module: -40°C—+215°C {-40°F—419°F}	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
LAS_CUR	A	• Lane-keep assist system is not operated: 0 A • Steered: Changes to positive or negative	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
ENG_RPM	RPM	• Engine stopped: 0 RPM • Engine rotating at 3,000 rpm: 3,000 RPM	• PCM inspection (See PCM INSPECTION [SKYACTIV-G 2.5].) (See PCM INSPECTION [SKYACTIV-D 2.2].)	—
MT_CURRENT	A	• When not steered: Near 0 A • Steered: Changes to positive or negative	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
OH_CR_C	Yes/No	• Overheat protection control (complete) is operating: Yes • Overheat protection control (complete) is not operating: No	—	—
OH_CR_M	Yes/No	• Overheat protection control (middle) is operating: Yes • Overheat protection control (middle) is not operating: No	—	—
OH_HIST_C	Yes/No	• Before overheat protection control (complete) has operated: Yes • Before overheat protection control (complete) has not operated: No	—	—
OH_HIST_M	Yes/No	• Before overheat protection control (middle) has operated: Yes • Before overheat protection control (middle) has not operated: No	—	—
OH_IG_CNT_C	—	• The number of times the ignition is switched ON during the period from when overheat protection control (complete) is finished to the time the next overheat protection control (complete) is started ― Displays a maximum number of 255 times in which the ignition is switched ON until the first overheat protection control (complete) is started. ― During overheat protection control (complete), the number of times the ignition is switched ON is not counted, and 0 is displayed.	—	—
OH_IG_CNT_M	—	• The number of times the ignition is switched ON during the period from when overheat protection control (middle) is finished to the time the next overheat protection control (middle) is started ― Displays a maximum number of 255 times in which the ignition is switched ON until the first overheat protection control (middle) is started. ― During overheat protection control (middle), the number of times the ignition is switched ON is not counted, and 0 is displayed.	—	—
STR_AB_EST	°	• Steering wheel in neutral position (not turned): 0° • Steered left: Changes to 0°—Positive • Steered right: Changes to 0°—Negative Note • The signal displayed in this item is a estimated absolute steering angle signal output.	Perform the DTC inspection for the PCM, DSC HU/CM, and EPS CM. If a DTC is displayed after performing the DTC inspection for the PCM, DSC HU/CM, and EPS CM, repair the malfunctioning part according to the applicable DTC troubleshooting. (See ON-BOARD DIAGNOSTIC TEST [PCM (SKYACTIV-G 2.5)].) (See ON-BOARD DIAGNOSTIC TEST [PCM (SKYACTIV-D 2.2)].) (See DTC INSPECTION [DYNAMIC STABILITY CONTROL (DSC)].) (See ELECTRIC POWER STEERING (EPS) ON-BOARD DIAGNOSIS [ELECTRIC POWER STEERING (EPS)].) After performing the DTC inspection, perform the following procedures: • Switch the ignition off and maintain condition for approx. 3 s. • Set the vehicle wheels straight-ahead. • Switch the ignition ON (engine off or on). If an abnormal value is indicated after verifying the value of the STR_ANG again, replace the EPS CM.	—
STR_ANG	°	• Steering wheel position when ignition is switched ON (engine off or on): 0° • Steered left: Changes to 0°—Positive • Steered right: Changes to 0°—Negative Note • The signal displayed in this item is a steering angle (relative angle) signal.		—
STR_ROT_SPD	°/s	• Not steered: Near 0 °/s • Steered: Changes according to steering speed	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
STR_TRQ_S_M	Nm	• Not steered: Near 0 Nm • Steered left: Changes to 0 Nm—Positive • Steered right: Changes to 0 Nm—Negative	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
STR_TRQ_S_S	Nm	• Not steered: Near 0 Nm • Steered left: Changes to 0 Nm—Positive • Steered right: Changes to 0 Nm—Negative	• EPS CM replacement (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)	—
VPWR	V	• Engine stopped: Approx. 12 V • Idling: Approx. 14 V	• Battery inspection (See BATTERY INSPECTION.) • Power supply circuit inspection (ignition switch, fuses)	1B
VSPD	KPH, MPH	• Vehicle stopped: 0 KPH, 0 MPH • Vehicle speed 20 km/h {12 mph}: 20 KPH, 12 MPH	• PCM inspection (See PCM INSPECTION [SKYACTIV-G 2.5].) (See PCM INSPECTION [SKYACTIV-D 2.2].)	—
YAW_RATE	Deg/Sec	• Vehicle stopped: 0 °/s	• EPS control module inspection (See EPS CONTROL MODULE INSPECTION.) • Forward sensing camera inspection (See FORWARD SENSING CAMERA (FSC) INSPECTION.)	—

Snapshot Data Table

Note

• Refer to PID monitor table for confirm the EPS system operation status while the EPS does not store the DTC. (See PID/Data Monitor Table.)

• Snapshot data items are not displayed, according to detected DTC.

—: Not applicable

Snapshot data item	Unit	Data contents	Data read/use method	Corresponding data monitor items
AAT	°C, °F	Ambient air temperature	—	—
APP_STATUS	Accelerator Pedal Off/ Under 20%/ Over 20%/ FAIL	Accelerator pedal position	—	—
CEN_TRQ_S	Nm	Center value of torque sensor	—	CEN_TRQ_S
CFG_STATUS	Config Complete/ Not Configured/ Config Error	Instrument cluster configuration status	—	—
ECT_STATUS	Under 0 degrees C/ 0 - Under 80 degrees C/ Over 80 degrees C/ FAIL	Engine coolant temperature status	—	—
ECU_IN_TMP	°C, °F	ECU internal temperature	—	ECU_IN_TMP
ENG_RPM	RPM	Engine speed	—	ENG_RPM
IC_VPWR	V	Instrument cluster power supply	• The EPS CM constantly receives the power supply voltage value of the instrument cluster sent via CAN signal from the instrument cluster. • If a DTC is detected, the EPS CM records the power supply voltage of the instrument cluster when the DTC was detected, and it is displayed in the M-MDS.	VPWR*²
IG-ON_TIMER	hh:mm:ss*¹	Elapsed time since ignition was switched ON Note • The instrument cluster records the elapsed time since the ignition was switched ON.	• The EPS CM constantly receives the elapsed time since the ignition was switched ON sent via CAN signal from the instrument cluster. • If a DTC is detected, the EPS CM records the elapsed time since the ignition was switched ON when the DTC was detected, and it is displayed in the M-MDS.	—
LAS_CUR	A	Lane-keep assist system control output current	—	LAS_CUR
MT_CURRENT	A	Motor current	—	MT_CURRENT
OH_CR_C	No/Yes	Current overheat protection control (complete)	—	OH_CR_C
OH_CR_M	No/Yes	Current overheat protection control (middle)	—	OH_CR_M
OH_HIST_C	No/Yes	History of overheat protection control (complete)	—	OH_HIST_C
OH_HIST_M	No/Yes	History of overheat protection control (middle)	—	OH_HIST_M
OH_IG_CNT_C	—	The number of times the ignition is switched ON during the period from when overheat protection control (complete) is finished to the time the next overheat protection control (complete) is started • Displays a maximum number of 255 times in which the ignition is switched ON until the first overheat protection control (complete) is started. • During overheat protection control (complete), the number of times the ignition is switched ON is not counted, and 0 is displayed.	—	OH_IG_CNT_C
OH_IG_CNT_M	—	The number of times the ignition is switched ON during the period from when overheat protection control (middle) is finished to the time the next overheat protection control (middle) is started • Displays a maximum number of 255 times in which the ignition is switched ON until the first overheat protection control (middle) is started. • During overheat protection control (middle), the number of times the ignition is switched ON is not counted, and 0 is displayed.	—	OH_IG_CNT_M
PWR_MODE_KEY	Key Out/Key Recently Out (Position 0)/Accessory (Position 1)/Post Ignition (Position 2)/Ignition On (Position 2)/Running (Position 2)/Running - Starting	Power mode key state	• When a DTC is detected, the EPS CM receives the ignition switch condition being detected by the instrument cluster via CAN signals and displays it in the M-MDS.	—
RPM_STATUS	Engine Stop/ Under 1500rpm/ Over 1500rpm/ FAIL	Engine RPM status	• The EPS CM constantly receives the ignition switch status sent via CAN signal from the instrument cluster. • If a DTC is detected, the EPS CM records the ignition switch status when the DTC was detected, and it is displayed in the M-MDS.	TACHOMTR^*2
SHIFT_STATUS	P/N D/ R/ FAIL	Shift position status	• The EPS CM constantly receives the selector lever position sent via CAN signal from the instrument cluster. • If a DTC is detected, the EPS CM records the selector lever position when the DTC was detected, and it is displayed in the M-MDS.	Not applicable
STR_ANG	°	Steering wheel angle	—	STR_ANG
STR_ANG_EST	°	Steering wheel estimated absolute angle	—	STR_AB_EST
STR_ROT_SPD	°/s	Steering wheel rotation speed	—	STR_ROT_SPD
STR_TRQ_S_M	Nm	Steering shaft torque (Main)	—	STR_TRQ_S_M
STR_TRQ_S_S	Nm	Steering shaft torque (Sub)	—	STR_TRQ_S_S
TOTAL_DIST	km, ft, mi	Accumulated total traveled distance from completion of vehicle until EPS CM detects DTC (Odometer value in instrument cluster)	The distance traveled when the EPS CM detected a DTC can be calculated by performing the following procedure. 1. Verify the odometer value in the instrument cluster. 2. Verify the snap shot data item TOTAL_DIST. 3. Subtract 2 from 1.	—
TOTAL_TIME	hh:mm:ss*¹	Accumulated total elapsed time since vehicle completion until EPS CM detects a DTC Note • When the ROOM removed, and the ignition is switched off, the time is not included in the elapsed time.	The elapsed time when the EPS CM detected a DTC can be calculated by performing the following procedure. 1. Verify the PID item TOTAL_TIME of the instrument cluster. 2. Verify the snap shot data item TOTAL_TIME. 3. Subtract 2 from 1.	TOTAL_TIME^*2
VPWR	V	Power supply	—	VPWR
VSPD	KPH, MPH	Vehicle speed	—	VSPD
VSPD_STATUS	Stop/ 0 - 10 km/h/ Over 10 km/h/ FAIL	Vehicle speed status	• The EPS CM constantly receives the vehicle speed sent via CAN signal from the instrument cluster. • If a DTC is detected, the EPS CM records the vehicle speed when the DTC was detected, and it is displayed in the M-MDS.	SPEEDOMTR^*2

*1 :The seconds may be indicated after the decimal point.

*2 :Instrument cluster PID (See PID/DATA MONITOR TABLE [INSTRUMENT CLUSTER].)

DTC	Power steering malfunction indicator light illumination status	Diagnosis system component	Fail-safe	Drive cycle	Self test type^*1	Memory function	Page
M-MDS		Diagnosis system component	Fail-safe	Drive cycle	Self test type^*1	Memory function	Page
C200B:02	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)
C200B:16	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200B:1C	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)
C200B:62	Illuminated/Indication	Torque sensor	×	—	C, D	×	See DTC C200B:02/C200B:16/C200B:62/C200B:64/C200B:85 [ELECTRIC POWER STEERING (EPS)].)
C200B:64	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200B:85	Illuminated/Indication	Torque sensor	×	—	C, D	×
C200C:1C	Illuminated/Indication	Torque sensor	×	—	C, D	×	(See DTC C200B:1C/C200C:1C [ELECTRIC POWER STEERING (EPS)].)
C200D:1C	Illuminated/Indication	EPS motor	×	—	C, D	×	(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)
C200D:64	Illuminated/Indication	EPS motor	×	—	C, D	×
U0001:88	Illuminated/Indication	CAN system communication error	×	—	C, D	×	(See DTC U0001:88/U0100:00/U0121:00/U0126:00/U0155:00/U0214:00/U023A:00 [ELECTRIC POWER STEERING (EPS)].)
U0100:00	Illuminated/Indication	Communication error to PCM	×	—	C, D	×
U0121:00	—	Communication error to DSC HU/CM	×	—	C, D	×
U0126:00	—	Communication error to SAS control module	×	—	C, D	×
U0155:00	—	Communication error to instrument cluster	×	—	C, D	×
U0214:00	—	Communication error to start stop unit	×	—	C, D	×
U023A:00	—	Communication error to forward sensing camera (FSC)	×	—	C, D	×
U0338:00	—	Signal error from start stop unit	×	—	C, D	×	(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)
U0401:00	Vehicle speed signal error • Illuminated/Indication Engine speed signal error • — i-stop condition signal error • —	Signal (vehicle speed) error from PCM	×	—	C, D	×	(See DTC U0401:00 [ELECTRIC POWER STEERING (EPS)].)
U0415:00	—	Signal error from DSC CM	×	—	C, D	×	(See DTC U0415:00 [ELECTRIC POWER STEERING (EPS)].)
U0423:00	—	Signal (engine switch status) error from instrument cluster	×	—	C, D	×	(See DTC U0423:00 [ELECTRIC POWER STEERING (EPS)])
U0428:00	—	Signal error to SAS control module	×	—	C, D	×	(See DTC U0428:00 [ELECTRIC POWER STEERING (EPS)].)
U0515:00	—	Signal error from start stop unit	×	—	C, D	×	(See DTC U0338:00/U0515:00 [ELECTRIC POWER STEERING (EPS)].)
U053B:00	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)
U053B:61	Illuminated/Indication	Forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:61 [ELECTRIC POWER STEERING (EPS)].)
U053B:82	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×	(See DTC U053B:00/U053B:82/U053B:83 [ELECTRIC POWER STEERING (EPS)].)
U053B:83	Illuminated/Indication	Signal error to forward sensing camera (FSC)	×	—	C, D	×
U2011:19	Illuminated/Indication	EPS motor	×	—	C, D	×	(See DTC C200D:1C/C200D:64/U2011:19/U2011:1C/U2011:62/U2011:72/U2011:92 [ELECTRIC POWER STEERING (EPS)].)
U2011:1C	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:62	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:72	Illuminated/Indication	EPS motor	×	—	C, D	×
U2011:92	Illuminated/Indication	EPS motor	×	—	C, D	×
U2300:54	—	EPS configuration	×	—	C, D	×	(See DTC U2300:54/U2300:55/U2300:56 [ELECTRIC POWER STEERING (EPS)].)
U2300:55	Illuminated/Indication	EPS configuration	×	—	C, D	×
U2300:56	—	EPS configuration	×	—	C, D	×
U3000:16	Illuminated/Indication	EPS CM	×	—	C, D	×	(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)
U3000:1C	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:28	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:41	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:46	—	EPS CM	×	—	C, D	×
U3000:47	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:49	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:4B	—	EPS CM	×	—	C, D	×	(See DTC U3000:4B [ELECTRIC POWER STEERING (EPS)].)
U3000:61	Illuminated/Indication	EPS CM	×	—	C, D	×	(See DTC U3000:16/U3000:1C/U3000:28/U3000:41/U3000:46/U3000:47/U3000:49/U3000:61/U3000:73/U3000:96 [ELECTRIC POWER STEERING (EPS)].)
U3000:73	Illuminated/Indication	EPS CM	×	—	C, D	×
U3000:96	Illuminated/Indication	EPS CM	×	—	C, D	×
U3003:16	Illuminated/Indication	Battery power supply	×	—	C, D	×	(See DTC U3003:16 [ELECTRIC POWER STEERING (EPS)].)
U3003:17	Illuminated/Indication	Battery power supply	×	—	C, D	×	(See DTC U3003:17 [ELECTRIC POWER STEERING (EPS)].)