POWER STEERING – POWER STEERING SYSTEM PS–1 POWER STEERING SYSTEM PRECAUTION 1. 2. HANDLING PRECAUTIONS FOR SRS AIRBAG SYSTEM (SEE PAGE RS-1) NOTICE: Some service operations affect the SRS airbag. Be sure to read the precautionary notice for the SRS airbag before servicing. PRECAUTIONS FOR REMOVAL, INSTALLATION AND REPLACEMENT OF ELECTRONIC MOTOR POWER STEERING COMPONENTS (a) Be sure to align the front wheels straight ahead when removing and installing the steering gear assembly. (b) When disconnecting the sliding yoke of the steering column and the pinion shaft of the steering gear assembly, be sure to put matchmarks before starting the operation. (c) When any component related to the steering system has been removed and either reinstalled or replaced, perform the steering center point adjustment (zero point calibration) (see page RS31). (d) When disconnecting the connector related to the electronic motor power steering wheel, turn the power switch ON (IG) (the engine and the hybrid system are not stopped), center the steering wheel, turn the power switch OFF, and then disconnect the connector. (e) When reconnecting the connector related to the electronic motor power steering system, ensure that the power switch is OFF. Center the steering wheel and then turn the power switch ON (IG) (the engine and the hybrid system are not stopped). NOTICE: Do not turn the power switch ON (IG) (the engine and the hybrid system are not stopped) when the steering wheel is not centered. (f) If the procedures above are not performed out properly, the steering center point (zero point) will deviate, which may lead to a difference in steering effort between right and left. If there is a difference in steering effort between right and left, perform the steering center point adjustment (zero point calibration) (see page RS-31). NOTICE: FOR INITIALIZATION When disconnecting the cable from the negative (-) battery terminal, initialize the following systems after the cable is reconnected. System Name See Page Power Window Control System IN-32 PS PS–2 POWER STEERING – POWER STEERING SYSTEM NOTICE: FOR HYBRID SYSTEM ACTIVATION • When the warning light is illuminated or the battery has been disconnected and reconnected, pressing the power switch may not start the system on the first try. If so, press the power switch again. • With the power switch's power mode changed to ON (IG), disconnect the battery. If the key is not in the key slot during reconnection, DTC B2799 may be output. PS PS–3 POWER STEERING – POWER STEERING SYSTEM SYSTEM DESCRIPTION • A rack and pinion type steering gear is used on all models. • The PRIUS uses a vehicle-speed sensing type EPS (Electric Power Steering) on all models. Power Steering ECU Steering Wheel Power Steering Motor Steering Column Steering Gear ECU POWER STEERING TORQUE FLOWCHART Motor Steering Gear Steering Column Steering Wheel G100841E03 PS PS–4 POWER STEERING – POWER STEERING SYSTEM PROBLEM SYMPTOMS TABLE HINT: Use the table below to help determine the cause of the problem. The potential causes of the symptoms are listed in order of probability in the "Suspected area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary. Steering System Symptom Steering is heavy. Steering effort differs between right and left or is uneven. While driving, steering effort does not change in accordance with vehicle speed or steering wheel does not return properly. See page 1. Front tires (improperly inflated, unevenly worn) TW-3 2. Front wheel alignment (Incorrect) SP-2 3. Front suspension (Lower ball joint) SP-24 4. Steering gear PS-49 5. Torque sensor (built into steering column) - 6. Steering column SR-7 7. Power steering motor SR-7 8. Battery and power source system - 9. Power steering ECU SR-16 1. Steering center point (zero point) (not recorded completely) PS-13 2. Front tires (improperly inflated, unevenly worn) TW-3 3. Front wheel alignment (Incorrect) SP-2 4. Front suspension (Lower ball joint) SP-23 5. Steering gear PS-49 6. Torque sensor (built into steering column) - 7. Steering column SR-7 8. Power steering motor SR-7 9. Power steering ECU SR-16 1. Front suspension SP-2 2. Speed sensor - 3. Skid control ECU BC-229 4. Combination meter - 5. Engine speed detection circuit - 6. Torque sensor (built into steering column) - 7. Power steering motor SR-7 8. Power steering ECU SR-16 1. Front suspension SP-2 2. Steering intermediate shaft - 3. Steering gear PS-49 Friction sound occurs when turning steering wheel during low speed driving. 1. Power steering motor SR-7 2. Steering column SR-7 High-pitched sound (squeaking) occurs when turning steering wheel slowly with vehicle stopped. 1. Power steering motor SR-7 Steering wheel vibrates and noise occurs when turning steering wheel from lock to lock. 1. Power steering motor SR-7 2. Steering column SR-7 Knocking (or clunking) sound occurs when turning steering wheel back and forth while power steering is in operation. PS Suspected area POWER STEERING – POWER STEERING SYSTEM PS–5 ON-VEHICLE INSPECTION 1. CHECK STEERING EFFORT (TORQUE) NOTICE: Some service operations affect the SRS airbag. Be sure to read the precautionary notice for the SRS airbag before servicing. (a) Stop the vehicle on a level, paved road and align the wheels straight ahead. (b) Disconnect the cable from the negative (-) battery terminal. (c) Remove the steering pad (see page RS-267). (d) Connect the cable to the negative (-) battery terminal. (e) Using a torque wrench, check if the steering wheel set nut is properly tightened. Torque: 50 N*m (510 kgf*cm, 37 ft.*lbf) (f) Turn the power switch ON (IG) (the engine and the hybrid system are not operated) so that power steering is ready to operate. (g) Turn the steering wheel 90 degrees to the right and check steering effort (torque) while turning. Check in the opposite direction using the same procedure. Steering effort (Reference): 5.5 N*m (56 kgf*cm, 49 in.*lbf) (h) Align the front wheels straight ahead. (i) Disconnect the cable from negative (-) battery terminal. (j) Install the steering pad assembly (see page RS268). (k) Connect the cable to the negative (-) battery terminal. (l) Clear the DTCs (see page RS-38). (m) Perform initialization (see page IN-32). (n) Inspect the airbag warning light (see page RS-31). G029440E02 2. CHECK STEERING WHEEL FREE PLAY (a) Turn the power switch ON (IG) so that power steering is ready to operate. (b) Align the wheels straight ahead. (c) Gently turn the steering wheel right and left with your finger and check the steering wheel free play. Maximum free play: 30 mm (1.18 in.) If the free play is out of specification, replace the sliding yoke sub-assembly or steering gear assembly with a new one. PS PS–6 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM ELECTRONIC POWER STEERING SYSTEM PRECAUTION 1. PS FOR INITIALIZATION NOTICE: When disconnecting the cable from the negative (-) battery terminal, initialize the following systems after the cable is reconnected. System Name See procedure Power Window Control System IN-32 2. FOR HYBRID SYSTEM ACTIVATION NOTICE: • When the warning light is illuminated or the battery has been disconnected and reconnected, pressing the power switch may not start the system on the first try. If so, press the power switch again. • With the power switch's power mode changed to ON (IG), disconnect the battery. If the key is not in the key slot during reconnection, DTC B2799 may be output. 3. HANDLING PRECAUTIONS (a) When handling the electronic parts: (1) Avoid any impact to electronic parts such as ECUs and relays. Replace the parts with new ones if dropped or subjected to a severe impact. (2) Do not expose any electronic parts to high temperature and humidity. (3) Do not touch the connector terminals in order to prevent deformation or malfunctions due to static electricity. (4) When the power steering ECU has been replaced with a new one, perform the torque sensor zero point calibration (see page PS-13). (b) When handling the steering column: (1) Avoid any impact to the steering column, especially to the motor or torque sensor. Replace the parts with new ones if dropped or subjected to a severe impact. (2) Do not pull on the wire harness when moving the steering column. (3) When the steering column has been replaced, perform the torque sensor zero point calibration after initializing the torque sensor zero point calibration signal (see page PS-13). (c) When disconnecting and reconnecting the connectors: (1) When disconnecting a connector related to the electric power steering system, turn the power switch ON (IG), center the steering wheel, turn the power switch OFF, and then disconnect the connector. POWER STEERING – ELECTRONIC POWER STEERING SYSTEM 4. PS–7 (2) When reconnecting a connector related to the electric power steering system, ensure that the power switch is OFF. Center the steering wheel and then turn the power switch ON (IG). NOTICE: Do not turn the power switch ON (IG) when the steering wheel is not centered. (3) If the above operations are not carried out properly, the steering center point (zero point) will deviate, which may lead to a difference in right and left steering effort. If there is a difference in right and left steering effort, perform the torque sensor zero point calibration (see page PS-13). PRECAUTIONS FOR CAN COMMUNICATION (a) CAN communication is used to receive information from the skid control ECU and to transmit warnings to the meter and the multi-display. When there are any problems in the CAN communication lines, DTCs indicating the communication line malfunctions are output. (b) Perform troubleshooting for the communication line problems when the CAN communication DTCs are output. Be sure to start troubleshooting on the electronic power steering system when data communication is normal. (c) A temporary fix or repair with bypass wiring, etc. is impossible because the length and path of each CAN communication line is specific. PS PS–8 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PARTS LOCATION STEERING COLUMN ASSEMBLY - TORQUE SENSOR - POWER STEERING MOTOR ENGINE ROOM JUNCTION BLOCK - EPS FUSE PS F100806E01 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–9 MULTI-DISPLAY POWER STEERING ECU DLC3 DRIVER SIDE JUNCTION BLOCK - IG1 RELAY - ECU-IG FUSE F100807E01 PS PS–10 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM SYSTEM DIAGRAM 12 V Power Switch : CAN : BEAN Power Steering Motor Torque Sensor : Input signal to power steering ECU : Output signal from power steering ECU Power Steering ECU DLC3 Gateway ECU Hybrid Vehicle Control ECU Skid Control ECU Body ECU : Destination signal : ECB system trouble signal : Shift information signal : Vehicle model signal : Stop light switch signal : Ready condition signal : Vehicle speed signal : Grade package information signal : Power use permissible signal : EPS mass current controlling signal : Steering angle information signal Combination Meter : EPS light ON signal PS ) F100808E04 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–11 SYSTEM DESCRIPTION 1. DESCRIPTION (a) The electronic power steering system generates torque through the operation of the motor and the reduction gear installed on the column shaft in order to assist steering effort. Directions and amount of assisting power are determined by signals from the torque sensor built into the steering column assembly and by the power steering ECU, and controlled in accordance with vehicle speed. As a result, steering effort is controlled to be light during low speed driving and moderately high during high speed driving. (1) Power steering ECU: The power steering ECU calculates assisting power based on a steering torque signal from the torque sensor and a vehicle speed signal from the skid control ECU. It generates specified assisting torque by controlling current to the motor. (2) Torque sensor: The torque sensor detects steering effort generated when the steering wheel is turned and converts it to an electrical signal. (3) Power steering motor: The power steering motor is activated by the current from the power steering ECU and generates torque to assist steering effort. PS PS–12 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM HOW TO PROCEED WITH TROUBLESHOOTING HINT: • Use these procedures to troubleshoot the Electronic Power Steering System (EPS). • *: Use the intelligent tester. 1 VEHICLE BROUGHT TO WORKSHOP NEXT 2 INSPECT BATTERY VOLTAGE Standard voltage: 11 to 14 V If the voltage is below 11 V, recharge or replace the battery before proceeding. NEXT 3 CHECK DTC AND FREEZE FRAME DATA* (a) Record DTCs (see page PS-23) and freeze frame data (see page PS-23). NEXT 4 PROBLEM SYMPTOM CONFIRMATION Result Result Proceed to Symptom does not occur A Symptom occurs B B Go to step 6 A 5 SYMPTOM SIMULATION NEXT 6 PS CHECK CAN COMMUNICATION SYSTEM* (a) Check for DTCs. Result Result Proceed to CAN system DTC is not output. A POWER STEERING – ELECTRONIC POWER STEERING SYSTEM Result Proceed to CAN system DTC is output. B PS–13 HINT: • When any CAN communication system DTCs are output, perform troubleshooting on the CAN communication system first (see page CA-8). • When communication to the power steering ECU is not established through the intelligent tester, inspect terminals SIL of the DLC3 and power steering ECU and inspect the IG circuit of the power steering ECU. B PROCEED TO CAN COMMUNICATION SYSTEM A 7 CHECK DTC* (a) Check for a DTCs. Result Result Proceed to DTC is not output. A DTC is output. B B Go to step 11 A 8 PROBLEM SYMPTOMS TABLE NEXT 9 CIRCUIT INSPECTION NEXT 10 IDENTIFICATION OF PROBLEM NEXT 11 NEXT REPAIR OR REPLACE PS PS–14 12 NEXT END PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM CONFIRMATION TEST POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–15 CALIBRATION 1. INITIALIZATION OF TORQUE SENSOR ZERO POINT CALIBRATION SIGNAL NOTICE: Under the following conditions, perform the torque sensor zero point calibration after initializing the torque sensor zero point calibration signal in the ECU: • The steering column (containing the torque sensor) has been replaced. • The power steering ECU has been replaced. • The steering wheel has been replaced. • The steering gear assembly has been replaced. • There is a difference in right and left steering effort. (a) Center the steering wheel and align the front wheels straight ahead. (b) Connect the intelligent tester (with CAN VIM) to the DLC3. (c) Turn the power switch ON (IG) and then initialize the torque sensor zero point calibration signal by following the directions on the tester screen. NOTICE: Do not turn the steering wheel while initializing the zero point calibration signal. (d) Perform steering zero point calibration after turning the power switch OFF. NOTICE: Zero point calibration cannot be carried out with the power switch ON (IG) after initialization of the zero point calibration signal is completed. PS PS–16 ) PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM F100818 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM ) PS–17 F100819 2. TORQUE SENSOR ZERO POINT CALIBRATION (a) Center the steering wheel and align the front wheels straight ahead. (b) Connect the intelligent tester (with CAN VIM) to the DLC3. PS PS–18 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM (c) Turn the power switch ON (IG) and then perform the zero point calibration by following the directions on the tester screen. NOTICE: • The vehicle is stopped. • Do not start the engine. (Do not turn the power switch ON (READY).) • Do not turn the steering wheel. • The vehicle is on level ground. (d) Confirm that no DTCs are output after completing the operation. (1) When DTC C1515 is output, refer to the following procedures (see page PS-32). (2) When DTC C1516 is output, refer to the following procedures (see page PS-33). (3) When DTC C1534 is output, refer to the following procedures (see page PS-36). PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM ) PS–19 F100820 PS PS–20 ) PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM F100821 PS–21 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PROBLEM SYMPTOMS TABLE HINT: Use the table below to help determine the cause of the problem symptom. The potential causes of the symptoms are listed in order of probability in the "Suspected area" column of the table. Check each symptom by checking the suspected areas in the order they are listed. Replace parts as necessary. Electronic power steering system Symptom Steering is heavy Steering effort differs between right and left or is uneven While driving, steering effort does not change in accordance with vehicle speed or steering wheel does not return properly Suspected area See page 1. Front tires (Improperly inflated, unevenly worn) TW-3 2. Front wheel alignment (Incorrect) SP-2 3. Front suspension (Lower ball joint) SP-24 4. Steering gear PS-52 5. Torque sensor (built into steering column) PS-32 6. Steering column SR-11 7. Power steering motor PS-37 8. Battery and power source system - 9. Power source voltage of power steering ECU PS-44 10.Power steering ECU SR-16 1. Steering center point (zero point) is not recorded completely PS-13 2. Front tires (Improperly inflated, unevenly worn) TW-3 3. Front wheel alignment (Incorrect) SP-2 4. Front suspension (Lower ball joint) SP-24 5. Steering gear PS-52 6. Torque sensor (built into steering column) PS-32 7. Steering column SR-11 8. Power steering motor PS-37 9. Power steering ECU SR-16 1. Front suspension - 2. Speed sensor BC-218 3. Skid control ECU BC-229 4. Engine speed detection circuit - 5. ECM ES-469 6. Torque sensor (built into steering column) PS-32 7. Power steering motor PS-37 8. Power steering ECU SR-16 9. CAN communication system CA-8 1. Front suspension - 2. Steering intermediate shaft - 3. Steering gear PS-52 Friction sound occurs when turning steering wheel during low speed driving 1. Power steering motor PS-37 2. Steering column SR-11 High-pitched sound (squeaking) occurs when turning steering wheel slowly with vehicle stopped Power steering motor PS-37 Steering wheel vibrates and noise occurs when turning steering wheel with the vehicle stopped 1. Power steering motor PS-37 2. Steering column SR-11 1. Power steering ECU SR-16 2. Wire harness PS-44 3. CAN communication system CA-8 4. Multi-display NS-172 Clunking sound occurs when turning steering wheel back and forth while power steering is in operation PS warning is always indicated on multi-display PS PS–22 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM TERMINALS OF ECU 1. CHECK POWER STEERING ECU P8 P7 P10 P9 F044303E04 (a) Measure the voltage and resistance of the connectors. Symbols (Terminal No.) Wiring Color Terminal Description Condition Specified Condition PIG (P7-1) - PGND (P7-2) W - W-B Power source Always 10 to 16 V PGND (P7-2) - Body ground W-B - Body ground Power ground Always Below 1 Ω M1 (P9-1) - PGND (P7-2) R - W-B Power steering motor signal With power switch ON (IG), turn the steering wheel to left Below 1 V With power switch ON (IG), turn the steering wheel to right 10 to 16 V With power switch ON (IG), turn the steering wheel to left 10 to 16 V With power switch ON (IG), turn the steering wheel to right Below 1 V M2 (P9-2) - PGND (P7-2) PS B - W-B Power steering motor signal CANH (P8-1) - CANL (P87) B-W CAN communication line Power switch is OFF 54 to 69 Ω SIL (P8-2) - PGND (P7-2) W - W-B Diagnosis communication signal Communication is established by connecting the intelligent tester (with CAN VIM) to the DLC3 Pulse generation (see waveform 1) IG (P8-6) - PGND (P7-2) B - W-B IG power source Power switch is ON (IG) 10 to 16 V TRQ1 (P10-5) - PGND (P7-2) B - W-B Torque sensor signal With power switch ON (IG), turn the steering wheel to left and right 0.3 to 4.7 V TRQV (P10-6) - PGND (P7-2) Y - W-B Torque sensor voltage source Power switch ON (IG) 7.5 to 8.5 V TRQ2 (P10-7) - PGND (P7-2) R - W-B Torque sensor signal With power switch ON (IG), turn the steering wheel to left and right 0.3 to 4.7 V TRQG (P10-8) - PGND (P7-2) W - W-B Torque sensor ground Always Below 1 Ω POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–23 (b) Using an oscilloscope, check waveform 1. Waveform 1 (Reference) Waveform 1 Terminal SIL - Body ground Tool setting 5 V/DIV, 1 ms/DIV Condition Communication is established by connecting the intelligent tester (with CAN VIM) to the DLC3 HINT: If the result is not as specified, the ECU may have a malfunction. C081996E05 DIAGNOSIS SYSTEM 1. CG SG CANH SIL CHECK DLC3 The vehicle's ECU uses the ISO 15765-4 communication protocol. The terminal arrangement of the DLC3 complies with ISO 15031-03 and matches the ISO 15765-4 format. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 CANL BAT B126621E01 Symbols (Terminal No.) Terminal Description Condition Specified Condition SIL (7) - SG (5) Bus "+" line During transmission Pulse generation CG (4) - Body ground Chassis ground Chassis ground Always Below 1 Ω SG (5) - Body ground Signal ground Signal ground Always Below 1 Ω BAT (16) - Body ground Battery positive Always 11 to 14 V CANH (6) - CANL (14) HIGH-level CAN bus line Power switch is OFF* 54 to 69 Ω CANH (6) - Battery positive HIGH-level CAN bus line Power switch is OFF* 1 MΩ or higher CANH (6) - CG (4) HIGH-level CAN bus line Power switch is OFF* 1 kΩ or higher CANL (14) - Battery position LOW-level CAN bus line Power switch is OFF* 1 MΩ or higher CANL (14) - CG (4) LOW-level CAN bus line Power switch is OFF* 1 kΩ or higher NOTICE: *: Before measuring the resistance, leave the vehicle as is for at least 1 minute and do not operate the ignition switch, other switches or the doors. If the result is not as specified, the DLC3 may have a malfunction. Repair or replace the harness and connector. PS PS–24 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM Intelligent Tester DLC3 CAN VIM 2. B126098E01 DTC CHECK / CLEAR Intelligent Tester 1. 2. DLC3 CAN VIM B126098E01 PS HINT: Connect the cable of the intelligent tester (with CAN VIM) to the DLC3, turn the power switch ON (IG) and attempt to use the tester. If the display indicates that a communication error has occurred, there is a problem either with the vehicle or with the tester. • If communication is normal when the tester is connected to another vehicle, inspect the DLC3 on the original vehicle. • If communication is still not possible when the tester is connected to another vehicle, the problem may be in the tester itself. Consult the Service Department listed in the tester's instruction WARNING LIGHT (a) When a problem occurs in the electric power steering system, the PS warning is indicated on the multi-display and the master warning light on the combination meter comes on to inform the driver of the problem. CHECK DTC (a) Connect the intelligent tester (with CAN VIM) to the DLC3. (b) Turn the power switch ON (IG). (c) Read the DTCs by following the display on the intelligent tester. HINT: Refer to the intelligent tester operator's manual for further details. CLEAR DTC (a) Connect the intelligent tester (with CAN VIM) to the DLC3. (b) Turn the power switch ON (IG). (c) Clear the DTCs by following the display on the intelligent tester. HINT: Refer to the intelligent tester operator's manual for further details. POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–25 FREEZE FRAME DATA NOTICE: • It is difficult to show the specified values (judgment values) clearly because freeze frame data values significantly change due to differences in measurement conditions, surroundings or vehicle conditions. Because of this reason, there may be a problem even when the values are within specifications. • Turn the power switch ON (IG) and park the vehicle on level ground to check the freeze frame data using the intelligent tester. 1. Connect the intelligent tester (with CAN VIM) to the DLC3. 2. Turn the power switch ON (IG) and check the freeze frame data by following the prompts on the display of the intelligent tester. Power steering ECU Item Item Description / Range (Display) Inspection Condition Reference Value TRQ1 Torque sensor 1 output value / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Vehicle speed from meter / min.: 0 km/h, max.: 255 km/h Vehicle is stopped 0 km/h Vehicle is driven at a constant speed No significant fluctuation MOTOR ACTUAL Amount of current to motor / min.: -128 A, max.: 127 A - - COMMAND VALUE Demanded amount of current to motor / min.: -128 A, max.: 127 A - - THERMISTOR TEMP ECU substrate temperature / min.: -50°C, max.: 205°C Power switch is ON (IG) - PIG SUPPLY Power source voltage to activate motor / min.: 0 V, max.: 25.5 V Power steering is in operation 10 to 16 V IG SUPPLY ECU power source voltage / min.: 0 V, max.: 25.5 V - 10 to 16 V TRQ1 ZERO VAL Zero point value of torque sensor 1 / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V TRQ2 ZERO VAL Zero point value of torque sensor 2 / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V TRQ3 ZERO VAL Zero point value of torque sensor for assist control / min.: 0 V, max.: 5V Steering wheel is not turned (without load) 2.3 to 2.7 V TRQ2 TRQ3 SPD Torque sensor 2 output value / min.: 0 V, max.: 5 V Torque value for assist control / min.: 0 V, max.: 5 V PS PS–26 Item Item Description / Range (Display) Inspection Condition MTR TERMINAL (+) Motor terminal M1 voltage / min.: 0 V, max.: 25.5 V Turning steering wheel to right 10 to 16 V Turning steering wheel to left Below 1 V Motor terminal M2 voltage / min.: 0 V, max.: 25.5 V Turning steering wheel to right Below 1 V Turning steering wheel to left 10 to 16 V # CODES Number of detected DTCs when freeze frame data is stored / min.: 0 times, max.: 255 times - - READY STATUS HV system "READY" / OFF/ON HV system "READY" ON HV system not "READY" OFF MTR TERMINAL (-) PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM Reference Value POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–27 FAIL-SAFE CHART When a problem occurs in the electronic motor power steering system, the P/S warning is indicated on the multidisplay, the master warning light on the combination meter comes on, and steering power assist is stopped, fixed at a particular point, or decreased simultaneously to protect the system. Electronic power steering system DTC No. Malfunction Fail-safe C1511 C1512 C1513 C1514 C1517 Torque sensor malfunction Power assist stops. C1524 Motor malfunction Power assist stops. C1531 C1532 Power steering ECU malfunction Power assist stops. C1533 Temperature sensor malfunction in power steering ECU Amount of power assist is limited. C1551 IG power source voltage error Power assist stops. C1552 PIG power source voltage error Power assist stops. C1554 Power source relay malfunction Power assist stops. C1555 Motor relay malfunction Power assist stops. U0073 CAN bus malfunction Amount of power assist is fixed for a speed of 43 mph (70 km/h). U0121 Skid control ECU communication error Amount of power assist is fixed for a speed of 43 mph (70 km/h). - Extremely high temperature in ECU Amount of power assist is limited until ECU temperature goes down. - Power source voltage drop Power assist is interrupted, but normal power assist is resumed when voltage returns. HINT: Amount of power assist may be decreased to prevent the motor and ECUs from overheating if the steering wheel is continuously turned when the vehicle is either stopped or driven at a low speed, or if the steering wheel is kept at either full lock position for a long time. In that case, the amount of power assist returns to normal if the steering wheel is not turned for approximately 10 minutes with the engine idling. PS PS–28 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DATA LIST / ACTIVE TEST 1. READ DATA LIST HINT: Using the intelligent tester's DATA LIST allows switch, sensor, actuator and other item values to be read without removing any parts. Reading the DATA LIST early in troubleshooting is one way to save time. (a) Connect the intelligent tester (with CAN VIM) to the DLC3. (b) Turn the power switch ON (IG) and press the intelligent tester main switch on. (c) Read the DATA LIST by following the directions on the tester screen. Power steering ECU Item Item Description / Range (Display) Inspection Condition Reference Value TRQ1 Torque sensor 1 output value / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Vehicle speed from meter / min.: 0 km/h, max.: 255 km/h Vehicle is stopped 0 km/h Vehicle is driven at a constant speed No significant fluctuation MOTOR ACTUAL Amount of current to motor / min.: -128 A, max.: 127 A - - COMMAND VALUE Demanded amount of current to motor / min.: -128 A, max.: 127 A - - THERMISTOR TEMP ECU substrate temperature / min.: -50°C, max.: 205°C Power switch is ON (IG) - PIG SUPPLY Power source voltage to activate motor / min.: 0 V, max.: 25.5 V Power steering is in operation 10 to 16 V IG SUPPLY ECU power source voltage / min.: 0 V, max.: 25.5 V - 10 to 16 V TRQ1 ZERO VAL Zero point value of torque sensor 1 / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V TRQ2 ZERO VAL Zero point value of torque sensor 2 / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V TRQ3 ZERO VAL Zero point value of torque sensor for assist control / min.: 0 V, max.: 5V Steering wheel is not turned (without load) 2.3 to 2.7 V MTR TERMINAL (+) Motor terminal M1 voltage / min.: 0 V, max.: 25.5 V Turning steering wheel to right 10 to 16 V Turning steering wheel to left Below 1 V TRQ2 TRQ3 SPD PS Torque sensor 2 output value / min.: 0 V, max.: 5 V Torque value for assist control / min.: 0 V, max.: 5 V POWER STEERING – ELECTRONIC POWER STEERING SYSTEM Item Item Description / Range (Display) Inspection Condition Reference Value MTR TERMINAL (-) Motor terminal M2 voltage / min.: 0 V, max.: 25.5 V Turning steering wheel to right Below 1 V Turning steering wheel to left 10 to 16 V MTR OVERHEAT Continuous overheat prevention control record / REC/UNREC - - MTR LOW POWER PIG power source voltage drop record / REC/UNREC - - CONTROL MODE Codes indicating DTC detection timing during ECU control are displayed in hexadecimal - - IG ON/OFF TIMES Number of times power switch is turned on (IG) after DTC detection / min.: 0 times, max.: 255 times - - # CODES Number of detected DTCs when freeze frame data is stored / min.: 0 max.: 255 - - ASSIST MAP Selected assist map - - ECU I.D. ECU identification information - - TEST MODE STAT Selected mode / NORMAL MODE/TEST MODE - - READY STATUS HV system "READY" / OFF/ON HV system "READY" ON HV system not "READY" OFF PS–29 PS PS–30 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DIAGNOSTIC TROUBLE CODE CHART HINT: If a trouble code is displayed during the DTC check, inspect the circuit listed for that code. For details of each code, refer to the "See page" for the respective "DTC No." in the DTC chart. Electronic power steering system PS DTC No. Detection Item Trouble Area See page C1511 Torque Sensor Circuit Malfunction - Steering column (torque sensor) - Power steering ECU PS-29 C1512 Torque Sensor Circuit Malfunction - Steering column (torque sensor) - Power steering ECU PS-29 C1513 Torque Sensor Circuit Malfunction - Steering column (torque sensor) - Power steering ECU PS-29 C1514 Torque Sensor Power Supply Abnormal - Steering column (torque sensor) - Power steering ECU PS-29 C1515 Torque Sensor Zero Point Adjustment Undone - Torque sensor zero point calibration - Steering column PS-32 C1516 Torque Sensor Zero Point Adjustment Incomplete - Torque sensor zero point calibration failure - Steering column PS-33 C1517 Torque Hold Abnormal - Steering column (torque sensor) - Power steering ECU PS-29 C1524 Motor Circuit Malfunction - Steering column (power steering motor) - Power steering ECU PS-34 C1531 ECU Malfunction - Power steering ECU PS-36 C1532 ECU Malfunction - Power steering ECU PS-36 C1533 ECU Malfunction - Power steering ECU PS-36 C1534 ECU Malfunction - Power steering ECU PS-36 C1551 IG Power Supply Voltage Malfunction - ECU-IG fuse - IG power source circuit - Power steering ECU PS-37 C1552 PIG Power Supply Voltage Malfunction - EPS fuse - PIG power source circuit - Power steering ECU PS-39 C1554 Power Supply Relay Failure - EPS fuse - PIG power source circuit - Power steering ECU PS-39 C1555 Motor Relay Welding Failure - EPS fuse - PIG power source circuit - Power steering ECU PS-39 C1581 Assist Map Number Un-Writing - Power steering ECU PS-41 U0073 Control Module Communication Bus OFF - CAN communication system PS-42 U0121 Lost Communication with Antilock Brake System (ABS) Control Module - CAN communication system - Skid control ECU PS-42 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1511 Torque Sensor Circuit Malfunction DTC C1512 Torque Sensor Circuit Malfunction DTC C1513 Torque Sensor Circuit Malfunction DTC C1514 Torque Sensor Power Supply Abnormal DTC C1517 Torque Hold Abnormal PS–31 DESCRIPTION The torque sensor converts rotation torque input to the steering wheel into an electrical signal and sends it to the ECU. Based on this signal, the ECU detects steering effort. DTC No. DTC Detection Condition Trouble Area C1511 Torque sensor (TRQ1) signal error or stop • • Torque sensor (built into steering column) Power steering ECU C1512 Torque sensor (TRQ2) signal error or stop • • Torque sensor (built into steering column) Power steering ECU C1513 Deviation between torque sensors (TRQ1 and TRQ2) is out of specification • • Torque sensor (built into steering column) Power steering ECU C1514 Torque sensor power source voltage error • • Torque sensor (built into steering column) Power steering ECU C1517 Temporary control due to malfunction related to torque sensor continues for a long time • • Torque sensor (built into steering column) Power steering ECU WIRING DIAGRAM Torque Sensor Power Steering ECU TRQV TRQ1 TRQ2 TRQG ) F100805E02 PS PS–32 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM INSPECTION PROCEDURE 1 READ VALUE OF INTELLIGENT TESTER (TORQUE SENSOR) (a) Connect the intelligent tester (with CAN VIM) to the DLC3. (b) Turn the power switch ON (IG), and turn the intelligent tester main switch on. (c) Select the items "TRQ1" and "TRQ2" in the DATA LIST. Power Steering ECU Item Item Description / Range (Display) Inspection Condition Reference Value TRQ1 Torque sensor 1 output value / min.: 0 V, max.: 5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V Steering wheel is not turned (without load) 2.3 to 2.7 V Turning steering wheel to right with vehicle stopped 2.5 to 4.7 V Turning steering wheel to left with vehicle stopped 0.3 to 2.5 V TRQ2 Torque sensor 2 output value / min.: 0 V, max.: 5 V (d) Read the values of "TRQ1" and "TRQ2" on the tester display when the steering wheel is centered (without load). Standard voltage: 2.3 to 2.7 V (e) Check the difference in the values of "TRQ1" and "TRQ2" when the steering wheel is centered (without load). Standard voltage: 0.3 V or less (f) Read the value of the torque sensor on the tester display when the steering wheel is turned. (1) Turn the steering wheel from its center position to the right full lock position and read the values of "TRQ1" and "TRQ2" on the tester display. Standard voltage: 2.5 to 4.7 V (2) Turn the steering wheel from its center position to the left full lock position and read the values of "TRQ1" and "TRQ2" on the tester display. Standard voltage: 0.3 to 2.5 V (3) Check the difference in the values of "TRQ1" and "TRQ2". Standard voltage: 0.3 V or less PS OK NG REPLACE POWER STEERING ECU PS–33 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM 2 CHECK STEERING COLUMN ASSEMBLY (TORQUE SENSOR) (a) Measure the voltage of the ECU. Standard voltage P10 Tester Connection Condition Specified Condition P10-6 (TRQV) - P10-8 (TRQG) Power switch is ON (IG) 7.5 to 8.5 V OK REPLACE POWER STEERING ECU 6 (TRQV) 8 (TRQG) ) F100822E04 NG 3 CHECK POWER STEERING ECU (a) Measure the voltage of the ECU. Standard voltage P10 5 (TRQ1) 7 (TRQ2) 8 (TRQG) ) F100822E05 Tester Connection Condition Specified Condition P10-5 (TRQ1) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel center position 2.3 to 2.7 P10-7 (TRQ2) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel center position 2.3 to 2.7 P10-5 (TRQ1) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel turned to right 2.5 to 4.7 P10-7 (TRQ2) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel turned to right 2.5 to 4.7 P10-5 (TRQ1) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel turned to left 0.3 to 2.5 V P10-7 (TRQ2) - P10-8 (TRQG) Power switch is ON (IG) Steering wheel turned to left 0.3 to 2.5 V OK REPLACE STEERING COLUMN ASSEMBLY NG REPLACE POWER STEERING ECU PS PS–34 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1515 Torque Sensor Zero Point Adjustment Undone DESCRIPTION This DTC does not indicate a malfunction. The power steering ECU outputs this DTC when it determines that the torque sensor zero point calibration has not been performed. DTC No. DTC Detection Condition Trouble Area C1515 This DTC is detected when torque sensor zero point calibration has not been performed. • • Torque sensor zero point calibration (There is no malfunction if this DTC is not output again after performing zero point calibration.) Steering column INSPECTION PROCEDURE 1 CLEAR DTC (a) Clear the DTC (see page PS-23). NEXT 2 PERFORM ZERO POINT CALIBRATION OF TORQUE SENSOR (a) Perform the torque sensor zero point calibration (see page PS-13). NEXT 3 RECONFIRM DTC (a) Check for DTCs (see page PS-23). Result Result Proceed to DTCs are still output even after performing torque sensor zero point calibration 3 times. A DTCs are still output even after performing torque sensor zero point calibration once or twice. B Normal system code is output. C HINT: Replace the steering column assembly if DTCs are still output even after performing the torque sensor zero point calibration 3 times. B C PS A REPLACE STEERING COLUMN ASSEMBLY Go to step 2 END POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1516 PS–35 Torque Sensor Zero Point Adjustment Incomplete DESCRIPTION This DTC does not indicate a malfunction. The power steering ECU outputs this DTC when it determines that the torque sensor zero point calibration has not been completed normally. DTC No. DTC Detection Condition Procedure C1516 Torque sensor zero point calibration has not been completed normally due to touching the steering wheel during calibration. There is no malfunction if this DTC is not output again after clearing the DTCs, initializing the zero point calibration signal, and performing zero point calibration. INSPECTION PROCEDURE 1 CLEAR DTC (a) Clear the DTC (see page PS-23). NEXT 2 PERFORM ZERO POINT CALIBRATION OF TORQUE SENSOR (a) Perform the torque sensor zero point calibration (see page PS-13). NEXT 3 RECONFIRM DTC (a) Check for DTCs. Result Result Proceed to DTCs are still output even after performing torque sensor zero point calibration 3 times. A DTCs are still output even after performing torque sensor zero point calibration once or twice. B Normal system code is output. C HINT: Replace the steering column assembly if DTCs are still output even after performing the torque sensor zero point calibration 3 times. B C A REPLACE STEERING COLUMN ASSEMBLY Go to step 2 END PS PS–36 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1524 Motor Circuit Malfunction DESCRIPTION The power steering ECU supplies current to the power steering motor through this circuit. DTC No. DTC Detection Condition Trouble Area C1524 Voltage error between motor terminals • • Steering column (power steering motor) Power steering ECU WIRING DIAGRAM Power Steering Motor Power Steering ECU M1 M2 ) F100804E04 INSPECTION PROCEDURE 1 CHECK POWER STEERING ECU (a) Turn the power switch ON (IG). (b) Measure the voltage of the ECU. Standard voltage P7 PS 7 (PGND) 1 (M1) P9 Tester Connection Condition Specified Condition P9-1 (M1) - P7-2 (PGND) The steering wheel is turned to the left. Below 1 V P9-1 (M1) - P7-2 (PGND) The steering wheel is turned to the right. 10 to 16 V P9-2 (M2) - P7-2 (PGND) The steering wheel is turned to the left. 10 to 16 V P9-2 (M2) - P7-2 (PGND) The steering wheel is turned to the right. Below 1 V 2 (M2) NG ) F100822E06 REPLACE POWER STEERING ECU POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–37 OK 2 CHECK POWER STEERING MOTOR (a) Turn the power switch OFF. (b) Disconnect the P9 power steering ECU connector. (c) Measure the resistance of the wire harness side connector. Standard resistance Wire Harness Side P9 M1 M2 Tester Connection Specified Condition P9-1 (M1) - P9-2 (M2) 0.04 to 0.1 Ω P9-1 (M1) - Body ground 10 kΩ or higher P9-2 (M2) - Body ground 10 kΩ or higher F046435E06 NG REPLACE STEERING COLUMN ASSEMBLY OK REPLACE POWER STEERING ECU PS PS–38 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1531 ECU Malfunction DTC C1532 ECU Malfunction DTC C1533 ECU Malfunction DTC C1534 ECU Malfunction DESCRIPTION Fail-safe function operates to stop power assist while DTCs indicating ECU malfunctions are output. However, power assist continues when DTC C1534 is output because it indicates an EEPROM error in the ECU. DTC No. DTC Detection Condition Trouble Area C1531 ECU internal malfunction (CPU malfunction) is detected. Power steering ECU C1532 ECU internal malfunction (Peripheral circuit malfunction) is detected. Power steering ECU C1533 ECU internal malfunction (Substrate temp. sensor malfunction) is detected. Power steering ECU C1534 ECU internal malfunction (EEPROM error) is detected. Power steering ECU INSPECTION PROCEDURE 1 RECONFIRM DTC (a) Check for DTCs. OK: DTCs other than C1531, C1532, C1533 and C1534 are not output. NG OK REPLACE POWER STEERING ECU PS REPAIR CIRCUIT INDICATED BY OUTPUT CODE POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1551 PS–39 IG Power Supply Voltage Malfunction DESCRIPTION The power steering ECU distinguishes on / off status of the power switch through this circuit. DTC No. DTC Detection Condition Trouble Area C1551 There is an open or short in the IG power source circuit with the power switch ON (IG). • • • ECU-IG fuse IG power source circuit Power steering ECU WIRING DIAGRAM Power Steering ECU IG1 ECU-IG IG Power Source Control ECU IGID PGND DC/DC MAIN ) F100803E04 INSPECTION PROCEDURE 1 INSPECT FUSE (ECU-IG) (a) Remove the ECU-IG fuse from the driver side junction block. (b) Measure the resistance of the fuse. PS PS–40 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM Standard resistance: Below 1 Ω NG INSPECT FOR SHORT IN ALL COMPONENTS CONNECTED TO FUSE AND REPAIR OR REPLACE THEM IF NEEDED, AND REPLACE FUSE OK 2 CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND) (a) Disconnect the P8 power steering ECU connector. (b) Turn the power switch ON (IG). (c) Measure the voltage of the wire harness side connector. Standard voltage Wire Harness Side 6 (IG) Tester Connection Condition Specified Condition P8-6 (IG) - Body ground Power switch is ON (IG) 10 to 16 V P8 NG F046437E04 REPAIR OR REPLACE HARNESS AND CONNECTOR OK 3 CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND) (a) Turn the power switch OFF. (b) Disconnect the P7 power steering ECU connector. (c) Measure the resistance of the wire harness side connector. Standard resistance Wire Harness Side P7 Tester Connection Specified Condition P7-2 (PGND) - Body ground Below 1 Ω 7 (PGND) F046438E11 OK REPLACE POWER STEERING ECU PS NG REPAIR OR REPLACE HARNESS AND CONNECTOR POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1552 PIG Power Supply Voltage Malfunction DTC C1554 Power Supply Relay Failure DTC C1555 Motor Relay Welding Failure PS–41 DESCRIPTION When a problem occurs in the system, the power source relay (built into the power steering ECU) circuit and the motor relay (built into the power steering ECU) circuit are shut off to stop power assist. It is necessary to replace the ECU when there is a problem in the relay because each relay is built into the ECU. DTC No. DTC Detection Condition Trouble Area C1552 PIG power source voltage error • • • EPS H-fuse PIG power source circuit Power steering ECU C1554 Power source relay malfunction • • • EPS H-fuse PIG power source circuit Power steering ECU C1555 Motor relay malfunction • • • EPS Fuse PIG power source circuit Power steering ECU WIRING DIAGRAM Power Steering ECU DC/DC EPS PIG MAIN ) PGND F100802E01 INSPECTION PROCEDURE PS 1 INSPECT FUSE (EPS) (a) Remove the EPS H-fuse from the engine room junction block. PS–42 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM (b) Measure the resistance of the fuse. Standard resistance: Below 1 Ω NG INSPECT FOR SHORT IN ALL COMPONENTS CONNECTED TO FUSE AND REPAIR OR REPLACE THEM IF NEEDED, AND REPLACE FUSE OK 2 CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND) (a) Disconnect the P7 power steering ECU connector. (b) Measure the voltage of the wire harness side connector. Standard voltage Wire Harness Side P7 Tester Connection Specified Condition P7-1 (PIG) - Body ground 10 to 16 V NG 1 (PIG) REPAIR OR REPLACE HARNESS AND CONNECTOR F046438E12 OK 3 CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND) (a) Disconnect the P7 power steering ECU connector. (b) Measure the resistance of the wire harness side connector. Standard resistance Wire harness Side Tester Connection Specified Condition P7-2 (PGND) - Body ground Below 1 Ω P7 NG 2 (PGND) F046438E06 OK REPLACE POWER STEERING ECU PS REPAIR OR REPLACE HARNESS AND CONNECTOR POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC C1581 PS–43 Assist Map Number Un-Writing DESCRIPTION The power steering ECU outputs this DTC when it determines that assist map is not written in the ECU. It is necessary to replace the power steering ECU when this code is output because this malfunction cannot be repaired. HINT: The assist map is data written in the power steering ECU to control assisting power. The assist map is selected from four types based on the vehicle specification communication data (designation and grade package information). DTC No. DTC Detection Condition Trouble Area C1581 Assist map is not written in the power steering ECU. Power steering ECU INSPECTION PROCEDURE 1 RECONFIRM DTC (a) Check for DTCs. OK: DTCs other than C1581 are not output. NG REPAIR CIRCUIT INDICATED BY OUTPUT CODE OK REPLACE POWER STEERING ECU PS PS–44 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM DTC U0073 Control Module Communication Bus OFF DTC U0121 Lost Communication with Anti-lock Brake System (ABS) Control Module DESCRIPTION The power steering ECU receives signals from the skid control ECU (ECB ECU) via CAN communication. DTC No. DTC Detection Condition Trouble Area U0073 CAN communication error (CAN bus is off) CAN communication system U0121 Skid control ECU communication error • • CAN communication system Skid control ECU (when only U0121 is output) HINT: When 2 or more DTCs starting with [U] are output simultaneously, inspect the connectors and wire harness of each ECU. WIRING DIAGRAM Junction Connector Power Steering ECU CANH CANL Skid Control ECU CANH CANL ) PS F100827E03 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–45 INSPECTION PROCEDURE 1 CHECK DTC (a) Using the intelligent tester (with CAN VIM), check for DTCs. OK: DTC is not output. OK PROCEED TO NEXT CIRCUIT INSPECTION SHOWN IN PROBLEM SYMPTOMS TABLE NG GO TO CAN COMMUNICATION SYSTEM TROUBLESHOOTING PS PS–46 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS Warning is Always Shown on Multi-Display DESCRIPTION The troubleshooting procedure for a situation when no DTCs are output but a PS warning is always indicated is specified here. The PS warning remains on when there is an open in the IG circuit that inputs power source voltage to the power steering ECU. PS POWER STEERING – ELECTRONIC POWER STEERING SYSTEM PS–47 WIRING DIAGRAM Gateway ECU Power Steering ECU CA1L CANL CA1H CANH Multi-display GTX- TX1- GTX+ TX1+ IG ECU-IG PGND IG1 from Power Source Control ECU DC/DC MAIN ) F100925E01 PS PS–48 POWER STEERING – ELECTRONIC POWER STEERING SYSTEM INSPECTION PROCEDURE 1 CHECK CONNECTOR CONNECTION CONDITION (a) Check the indication condition of the PS warning while wiggling the power steering ECU connector and wire harness up and down, and right and left. OK: Warning indication does not change. NG REPAIR OR REPLACE HARNESS AND CONNECTOR OK 2 INSPECT CAN COMMUNICATION SYSTEM (a) Using the intelligent tester (with CAN VIM), check for DTCs and confirm that there are no problems in the CAN communication system. OK: DTCs are not output. NG GO TO CAN COMMUNICATION SYSTEM OK 3 INSPECT MULTIPLEX COMMUNICATION SYSTEM (BEAN) (a) Using the intelligent tester (with CAN VIM), check for DTCs and confirm that there are no problems in the multiplex communication system (BEAN). OK: DTCs are not output. NG GO TO MULTIPLEX COMMUNICATION SYSTEM OK 4 CHECK WIRE HARNESS (POWER STEERING ECU - BATTERY) (a) Disconnect the P7 and P8 power steering ECU connectors. (b) Turn the power switch ON (IG). (c) Measure the voltage of the wire harness side connectors. Standard voltage Wire Harness Side PS P7 2 (PGND) P8 6 (IG) F046436E03 Tester Connection Condition Specified Condition P8-6 (IG) - P7-2 (PGND) Power switch ON (IG) 10 to 16 V POWER STEERING – ELECTRONIC POWER STEERING SYSTEM NG PS–49 REPAIR OR REPLACE HARNESS AND CONNECTOR OK 5 REPLACE POWER STEERING ECU NEXT 6 CHECK PS WARNING ON MULTI-DISPLAY (a) Check for the PS warning indication on the multi-display. OK: PS warning is not indicated. OK END NG REPLACE MULTI-DISPLAY PS PS–48 POWER STEERING – STEERING GEAR STEERING GEAR POWER STEERING STEERING COMPONENTS FRONT NO. 1 STABILIZER BRACKET RH 19 (194, 14) FRONT STABILIZER LINK ASSEMBLY RH 19 (194, 14) FRONT NO. 1 STABILIZER BRACKET LH FRONT NO. 1 STABILIZER BAR FRONT STABILIZER LINK ASSEMBLY LH 74 (755, 55) 74 (755, 55) FRONT STABILIZER BAR 74 (755, 55) 74 (755, 55) PS N*m (kgf*cm, ft.*lbf) : Specified torque G100840E03 PS–49 POWER STEERING – STEERING GEAR COLUMN HOLE COVER SILENCER SHEET STEERING SLIDING YOKE SUB-ASSEMBLY STEERING INTERMEDIATE SHAFT CLIP 35 (360, 26) NO. 1 STEERING COLUMN HOLE COVER SUB-ASSEMBLY CLIP 83 (846, 61) *60 (612, 44) 58 (591, 43) STEERING RACK END SUB-ASSEMBLY 49 (500, 36) NO. 1 TIE ROD END SUB-ASSEMBLY NO. 2 STEERING RACK BOOT CLAMP STEERING RACK BOOT CLIP NO. 2 STEERING RACK BOOT 74 (749, 54) NO. 1 STEERING RACK BOOT *For use with SST Non-reusable part CLIP 83 (846, 61) *60 (612, 44) 49 (500, 36) STEERING RACK END SUB-ASSEMBLY NO. 1 STEERING RACK BOOT CLAMP N*m (kgf*cm, ft.*lbf) : Specified torque STEERING RACK BOOT CLIP Molybdenum disulfide lithium base grease Silicon grease 74 (749, 54) NO. 2 TIE ROD END SUB-ASSEMBLY G100839E04 PS PS–50 POWER STEERING – STEERING GEAR REMOVAL 1. PLACE FRONT WHEELS FACING STRAIGHT AHEAD 2. DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL CAUTION: Wait at least 90 seconds after disconnecting the cable from the negative (-) battery terminal to prevent airbag and seat belt pretensioner activation. 3. REMOVE COLUMN HOLE COVER SILENCER SHEET (See page SR-10) 4. SEPARATE STEERING SLIDING YOKE SUBASSEMBLY (a) Fix the steering wheel with the seat belt in order to prevent rotation and damage to the spiral cable. G029446E06 (b) Put matchmarks in the sliding yoke and intermediate shaft. (c) Loosen the bolt labeled A and remove the bolt labeled B to separate the sliding yoke. Matchmark Bolt A Bolt B G029896E03 5. DISCONNECT NO. 1 STEERING COLUMN HOLE COVER SUB-ASSEMBLY (a) Remove the clip labeled A and disconnect the hole cover from the body. NOTICE: Do not damage the clip labeled B. 6. REMOVE FRONT WHEELS 7. DISCONNECT NO. 2 TIE ROD END SUB-ASSEMBLY (See page DS-6) 8. DISCONNECT NO. 1 TIE ROD END SUB-ASSEMBLY HINT: Use the same procedure described for the No. 2 tie rod end. 9. REMOVE FRONT STABILIZER LINK ASSEMBLY LH (See page SP-28) Clip A Clip B G028294E02 PS 10. REMOVE FRONT STABILIZER LINK ASSEMBLY RH HINT: Use the same procedure described for the LH. POWER STEERING – STEERING GEAR PS–51 11. REMOVE FRONT NO. 1 STABILIZER BRACKET LH (See page SP-28) 12. REMOVE FRONT NO. 1 STABILIZER BRACKET RH HINT: Use the same procedure described for the LH. Intermediate Shaft Matchmark G028290E03 for LH Side 13. REMOVE STEERING INTERMEDIATE SHAFT (a) Move the No. 1 column hole cover to the upper side of the vehicle and put matchmarks on the intermediate shaft and steering gear. NOTICE: Do not damage the No. 1 hole cover when moving it. (b) Remove the bolt and remove the intermediate shaft from the inside of the vehicle. (c) Remove the No. 1 column hole cover from the steering gear. NOTICE: Do not damage the No. 1 hole cover clip. 14. REMOVE STEERING GEAR ASSEMBLY (a) Remove the 4 bolts and steering gear from the left side of the vehicle. HINT: Be careful not to hit the stabilizer bar when removing the steering gear. for RH Side G028292E04 DISASSEMBLY SST 1. FIX STEERING GEAR ASSEMBLY (a) Using SST wrapped with protective tape, secure the steering gear in a vise. SST 09612-00012 HINT: Remove and reinstall the SST as needed. 2. REMOVE TIE ROD END SUB-ASSEMBLY LH (a) Put matchmarks on the tie rod end LH and rack end. (b) Remove the tie rod end LH and lock nut. 3. REMOVE TIE ROD END SUB-ASSEMBLY RH HINT: Use the same procedure described for the LH. 4. REMOVE STEERING RACK BOOT CLIP (a) Using pliers, remove the 2 rack boot clips (for RH and LH). Vinyl Tape G028295E03 Matchmark F040050E12 PS PS–52 POWER STEERING – STEERING GEAR 5. REMOVE NO. 2 STEERING RACK BOOT CLAMP (a) Using a screwdriver, unstake and remove the clamp. NOTICE: Do not damage the boot. 6. REMOVE NO. 1 STEERING RACK BOOT CLAMP HINT: Use the same procedures described for the No. 2 rack boot clamp. 7. REMOVE NO. 2 STEERING RACK BOOT 8. REMOVE NO. 1 STEERING RACK BOOT 9. REMOVE STEERING RACK END SUB-ASSEMBLY (a) Using 2 SST, remove the rack end (for LH side). SST 09922-10010 NOTICE: • Use SST in the correct direction as shown in the illustration. • Securely hold the steering rack. G029447E02 for LH SST SST G028298E04 (b) Using 2 SST, hold the steering rack LH side and remove the rack end (for RH side). SST 09922-10010 NOTICE: • Use SST in the correct direction as shown in the illustration. • Securely hold the steering rack. for RH SST SST G028299E04 PS POWER STEERING – STEERING GEAR PS–53 INSPECTION 1. INSPECT TIE ROD END SUB-ASSEMBLY LH (a) Secure the tie rod end LH boll join in a vise through aluminum plates. NOTICE: Do not overtighten the vise. (b) Install the castle nut to the stud bolt. (c) Flip the ball joint back and forth 5 times or more. (d) Set a torque wrench to the nut, turn the ball joint continuously at a rate of 3 to 5 seconds per turn, and check the turning torque on the 5th turn. Standard turning torque: 2.0 N*m (20.4 kgf*cm, 18 in. lbf) or less If turning torque is out of specification, replace the tie rod end LH with a new one. 2. INSPECT TIE ROD END SUB-ASSEMBLY RH HINT: Use the same procedures described for the LH side. 3. INSPECT TOTAL PRELOAD (a) Using SST, inspect the total preload. SST 09616-00011 Standard total preload (turning): 0.6 to 1.2 N*m (6.2 to 12.2 kgf*cm, 5 to 11 in.*lbf) NOTICE: Inspect around the steering rack center position. If the total preload is out of specification, replace the steering gear with a new one. SST G028296E03 REASSEMBLY 1. INSTALL STEERING RACK END SUB-ASSEMBLY (a) Fill up the ball joints of the RH and LH rack ends with molybdenum disulfide lithium base grease. G029137E02 for RH Side Fulcrum Length SST SST G028300E04 (b) Using 2 SST, hold the steering rack LH side and install the rack end (for RH side). SST 09922-10010 Torque: 60 N*m (612 kgf*cm, 44 ft.*lbf) NOTICE: • Use a torque wrench with a fulcrum length of 345 mm (13.58 in.). • Use SST in the correct direction as shown in the illustration. • Securely hold the steering rack. PS PS–54 POWER STEERING – STEERING GEAR (c) Using 2 SST, install the rack end (for LH side). SST 09922-10010 Torque: 60 N*m (612 kgf*cm, 44 ft.*lbf) NOTICE: • Use a torque wrench with a fulcrum length of 345 mm (13.58 in.). • Use SST in the correct direction as shown in the illustration. • Securely hold the steering rack. Fulcrum Length for LH Side SST G028302E04 2. INSTALL NO. 2 STEERING RACK BOOT (a) Apply silicon grease to the inside of the small opening of the boot. (b) Install the boot in the groove on the rack housing. NOTICE: Make sure that the boot is not twisted. 3. INSTALL NO. 1 STEERING RACK BOOT HINT: Use the same procedures described for the No. 2 boot. 4. INSTALL NO. 2 STEERING RACK BOOT CLAMP (a) Install a new clamp to the boot. NOTICE: Do not damage the boot. (b) While pushing SST to the rack housing, pinch the clamp so that the clearance is within specification. SST 09521-24010 Standard clearance: 3.0 mm (0.12 in.) or less NOTICE: Make sure that the boot is not twisted. 5. INSTALL NO. 1 STEERING RACK BOOT CLAMP HINT: Use the same procedures described for the No. 2 rack boot clamp. 6. INSTALL STEERING RACK BOOT CLIP (a) Using pliers, install the 2 rack boot clips to the RH and LH rack boots. 7. INSPECT STEERING GEAR ASSEMBLY (a) Using SST, turn the pinion shaft and check that the RH and LH rack boots expand and contract smoothly, reinstall it with a new rack boot clamp. SST 09616-00011 If the rack boot does not expand and contract smoothly, reinstall it with a new rack boot clamp. C057755E02 3.0 mm (0.12 in.) or less F040084E02 SST PS G028297E02 POWER STEERING – STEERING GEAR PS–55 8. INSTALL TIE ROD END SUB-ASSEMBLY LH (a) Screw the lock nut and tie rod end LH on the rack end unit the matchmarks are aligned and temporarily tighten the lock nut. HINT: Fully tighten the lock nut after adjusting toe-in. 9. REMOVE TIE ROD END SUB-ASSEMBLY RH HINT: Use the same procedures described for the LH side. Matchmark F040050E13 for LH Side INSTALLATION for RH Side 1. INSTALL STEERING GEAR ASSEMBLY (a) Install the steering gear from the left side of the vehicle. HINT: Be careful not to hit the stabilizer bar when installing the steering gear. (b) Install the No. 1 column hole cover to the steering gear. (c) Install the steering gear to the crossmember with the 4 bolts. Torque: 58 N*m (591 kgf*cm, 43 ft.*lbf) 2. INSTALL STEERING INTERMEDIATE SHAFT (a) Move the No. 1 column hole cover to the upper side of the vehicle, align the matchmarks, and install the intermediate shaft from the inside of the vehicle. NOTICE: Do not damage the No. 1 hole cover when moving it. (b) Install the bolt. Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf) (c) Fit the recessed part on the No. 1 column hole cover to the steering gear. NOTICE: Make sure that the No. 1 hole cover is securely installed. 3. INSTALL FRONT NO. 1 STABILIZER BRACKET LH (See page SP-29) 4. INSTALL FRONT NO. 1 STABILIZER BRACKET RH HINT: Use the same procedures described for the LH side. 5. INSTALL FRONT STABILIZER LINK ASSEMBLY LH (See page SP-30) 6. INSTALL FRONT STABILIZER LINK ASSEMBLY RH HINT: Use the same procedures described for the LH side. 7. CONNECT NO. 1 TIE ROD END SUB-ASSEMBLY (See page DS-16) G028292E04 Intermediate Shaft Matchmark G028290E04 PS PS–56 POWER STEERING – STEERING GEAR Clip A Clip B 8. CONNECT NO. 2 TIE ROD END SUB-ASSEMBLY HINT: Use the same procedures described for the No. 1 tie rod end. 9. INSTALL FRONT WHEEL Torque: 103 N*m (1,050 kgf*cm, 76 ft.*lbf) 10. INSTALL NO. 1 STEERING COLUMN HOLE COVER SUB-ASSEMBLY (a) Install the clip labeled B to the vehicle body and install the No. 1 column hole cover to the vehicle body with the clip labeled A. NOTICE: Make sure that the lip of the No. 1 hole cover fits on the dash panel correctly. G028294E03 11. INSTALL STEERING SLIDING YOKE SUBASSEMBLY (a) Align the matchmarks and install the sliding yoke to the intermediate shaft with the bolt labeled B. Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf) (b) Tighten the bolt labeled A. Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf) Matchmark Bolt A Bolt B 12. INSTALL COLUMN HOLE COVER SILENCER SHEET G029896E04 13. REPLACE FRONT WHEELS FACING STRAIGHT AHEAD 14. INSPECT AND ADJUST FRONT WHEEL ALIGNMENT (a) Inspect and adjust the front wheel alignment (see page SP-2). 15. PERFORM STEERING ANGLE SENSOR ZERO POINT CALIBRATION (a) Perform initialization (see page IN-32). NOTICE: Certain systems need to be initialized after disconnecting and reconnecting the cable from the negative (-) battery terminal. PS