The steering control ECU monitors PIG (motor power source voltage) and detects a malfunction in the power supply relay (located inside the steering control ECU).

If the steering control ECU detects a malfunction, it will turn on the master warning light, store these DTCs, and stop VGRS operation.

The steering control ECU monitors the IG power supply voltage.

If the steering control ECU detects a malfunction, it will turn on the master warning light, store DTC C15C6/77, and stop VGRS operation.

The steering actuator drives the internal motor using the current output from the steering control ECU to change the relative angle between the tire angle and steering wheel angle.

The rotation angle sensor in the steering actuator detects the motor rotation angle and outputs this information to the steering control ECU.

If the steering control ECU detects a malfunction in the rotation angle sensor circuit, it will store DTC C15A3/63.

The steering control ECU detects a vehicle speed error by receiving an error signal from the skid control ECU via CAN communication.

If the steering control ECU detects this error signal, it will turn the master warning light on, store this DTC, and stop VGRS operation.

The steering control ECU drives the actuator based on steering angle sensor signals and vehicle speed signals.

If the steering control ECU detects excessive current flowing into the steering actuator, or an internal malfunction, it will turn on the master warning light, store DTC C15A2/62, and stop VGRS operation.

The steering control ECU detects a steering angle sensor malfunction by receiving an error signal from the steering angle sensor via CAN communication. If the steering control ECU detects this error signal, it will turn the master warning light on, store these DTCs, and stop VGRS operation.

The steering control ECU drives the actuator while the steering wheel is turned to set the gear ratio. It detects the current flowing into the actuator motor driving circuit.

If the steering control ECU detects excessive current, it will store DTC C15A1/61, turn on the master warning light, and stop VGRS operation.

If the steering control ECU detects an internal malfunction, it will turn the master warning light on, store DTC C15B4/71, and stop VGRS operation.

Signal transmission between the steering control ECU and steering angle sensor is performed via serial communication.

If an error occurs between them in serial communication, the ECU will store DTC C1595/55.

If the steering control ECU detects a steering actuator standard position error, it will store DTC C1593/53.