DTC C0051:25, C0051:62, C0051:64, C0051:67, C0051:84, C0051:85 OR C0051:86 [ELECTRONICALLY CONTROLLED BRAKE UNIT]

System malfunction location	C0051:25, C0051:62, C0051:64, C0051:67, C0051:84, C0051:85, C0051:86	Electric Power Steering (EPS) control module (steering angle signal)
Detection condition	• C0051:25 ― While driving, the electronically controlled brake unit detects a sudden change in the steering angle sensor signal. • C0051:62 ― While driving, the electronically controlled brake unit detects that the difference between the steering angle calculated by the yaw rate, lateral-G, and wheel speed and the steering angle signal is the specification or more. • C0051:64 ― While driving, the electronically controlled brake unit determines that there is a steering angle malfunction as a result of comparing the yaw rate, lateral-G, and the steering angle. • C0051:67 ― The electronically controlled brake unit detects that the steering angle neutral position cannot be estimated for the specified time. Note • Each time the ignition is switched ON, the electronically controlled brake unit calculates the steering angle neutral position based on the signals from each sensor and each module. • If the vehicle is driven as follows just after the engine is started, DTC C0051:67 may be output. ― Vehicle is accelerated rapidly while being steered right or left ― Vehicle is driven on abnormal road surface such as banked road ― Vehicle is driven on continuously curved road such as mountain road • If the DTC is a past malfunction during DTC inspection, it does not indicate a vehicle malfunction. • C0051:84 ― The electronically controlled brake unit detects that the steering angle signal received from the Electric Power Steering (EPS) control module decreases below the lower limit of the specification. • C0051:85 ― The electronically controlled brake unit detects that the steering angle signal received from the Electric Power Steering (EPS) control module increases above the upper limit of the specification. • C0051:86 ― While driving in DSC OFF mode, the electronically controlled brake unit detects that the difference between the steering angle calculated from yaw rate, lateral-G, and the wheel speed and the steering angle signal is the specification or more.
Fail-safe	Refer to “DTC Table” and “Fail-safe Function Malfunction Contents Table”. (See DTC TABLE [ELECTRONICALLY CONTROLLED BRAKE UNIT].)
Possible cause	• Vehicle is accelerated rapidly while being steered right or left • Vehicle is driven on abnormal road surface such as banked road • Vehicle is driven on continuously curved road such as mountain road • Improper installation or positioning of the Electric Power Steering (EPS) control module • Electric Power Steering (EPS) control module malfunction • Connector or terminal malfunction • Electronically controlled brake unit malfunction
System wiring diagram	Not applicable
Connector diagram	Not applicable

System malfunction location

C0051:25, C0051:62, C0051:64, C0051:67, C0051:84, C0051:85, C0051:86

Electric Power Steering (EPS) control module (steering angle signal)

Detection condition

• C0051:25

― While driving, the electronically controlled brake unit detects a sudden change in the steering angle sensor signal.

• C0051:62

― While driving, the electronically controlled brake unit detects that the difference between the steering angle calculated by the yaw rate, lateral-G, and wheel speed and the steering angle signal is the specification or more.

• C0051:64

― While driving, the electronically controlled brake unit determines that there is a steering angle malfunction as a result of comparing the yaw rate, lateral-G, and the steering angle.

• C0051:67

― The electronically controlled brake unit detects that the steering angle neutral position cannot be estimated for the specified time.

Note

• Each time the ignition is switched ON, the electronically controlled brake unit calculates the steering angle neutral position based on the signals from each sensor and each module.

• If the vehicle is driven as follows just after the engine is started, DTC C0051:67 may be output.

― Vehicle is accelerated rapidly while being steered right or left

― Vehicle is driven on abnormal road surface such as banked road

― Vehicle is driven on continuously curved road such as mountain road

• If the DTC is a past malfunction during DTC inspection, it does not indicate a vehicle malfunction.

• C0051:84

― The electronically controlled brake unit detects that the steering angle signal received from the Electric Power Steering (EPS) control module decreases below the lower limit of the specification.

• C0051:85

― The electronically controlled brake unit detects that the steering angle signal received from the Electric Power Steering (EPS) control module increases above the upper limit of the specification.

• C0051:86

― While driving in DSC OFF mode, the electronically controlled brake unit detects that the difference between the steering angle calculated from yaw rate, lateral-G, and the wheel speed and the steering angle signal is the specification or more.

Fail-safe

Refer to “DTC Table” and “Fail-safe Function Malfunction Contents Table”. (See DTC TABLE [ELECTRONICALLY CONTROLLED BRAKE UNIT].)

Possible cause

• Vehicle is accelerated rapidly while being steered right or left

• Vehicle is driven on abnormal road surface such as banked road

• Vehicle is driven on continuously curved road such as mountain road

• Improper installation or positioning of the Electric Power Steering (EPS) control module

• Electric Power Steering (EPS) control module malfunction

• Connector or terminal malfunction

• Electronically controlled brake unit malfunction

System wiring diagram

Not applicable

Connector diagram

Not applicable

Step	Inspection	Results	Action
1	VERIFY WHETHER MALFUNCTION IS PAST OR PRESENT • Switch the ignition ON (engine off or on). • Is the TCS/DSC indicator light illuminated?	Yes	Go to the next step.
No	Clear the DTC from the memory and go to the repair completion verification 2. (See CLEARING DTC.)
2	INSPECT ELECTRIC POWER STEERING (EPS) CONTROL MODULE FOR MALFUNCTION • Perform the DTC inspection for Electric Power Steering (EPS) control module. (See DTC INSPECTION.) • Are any DTCs displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting. (See DTC TABLE [ELECTRIC POWER STEERING (EPS) (E)].)
No	Go to the next step.
Repair completion verification 1	VERIFY THAT VEHICLE IS REPAIRED • Install/connect the part removed/disconnected during the troubleshooting procedure. • Clear the DTC recorded in the memory. (See CLEARING DTC.) • Start the engine and drive the vehicle at 20 km/h {12 mph} or more. • Gradually slow down and stop vehicle. • Perform the DTC inspection for the electronically controlled brake unit. (See DTC INSPECTION.) • Is the same Pending DTC present?	Yes	Refer to the controller area network (CAN) malfunction diagnosis flow to inspect for a CAN communication error. (See CONTROLLER AREA NETWORK (CAN) MALFUNCTION DIAGNOSIS FLOW [(E)].) If the CAN communication is normal, perform the diagnosis from Step 1. • If the malfunction recurs, replace the electronically controlled brake unit, then go to the next step. (See ELECTRONICALLY CONTROLLED BRAKE UNIT REMOVAL/INSTALLATION [L.H.D.].) (See ELECTRONICALLY CONTROLLED BRAKE UNIT REMOVAL/INSTALLATION [R.H.D.].)
No	Go to the next step.
Repair completion verification 2	VERIFY IF OTHER DTCs DISPLAYED • Perform the DTC inspection. (See DTC INSPECTION.) • Are any DTCs displayed?	Yes	Repair the malfunctioning location according to the applicable DTC troubleshooting.
No	DTC troubleshooting completed.

Step

Inspection

Results

Action

VERIFY WHETHER MALFUNCTION IS PAST OR PRESENT

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

• Is the TCS/DSC indicator light illuminated?

Yes

Go to the next step.

Clear the DTC from the memory and go to the repair completion verification 2.

(See CLEARING DTC.)

INSPECT ELECTRIC POWER STEERING (EPS) CONTROL MODULE FOR MALFUNCTION