DTC C0051:86 [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)]

Description	Steering angle error signal received from EPS control module
Detection condition	• Either a condition in which the steering angle sensor has a malfunction and the EPS control module has not performed steering angle neutral position auto learning, or a condition in which the EPS control module has a malfunction is detected for 5 s or more with the ignition switched ON (engine off or on).
Fail-safe function	• The swivel actuator is moved to the center. • Control of the headlight auto leveling system is continued.
Possible cause	• DTCs are stored in the start stop unit. • DTCs are stored in the EPS control module. • EPS control module malfunction • AFS control module malfunction
System wiring diagram	Not applicable

Description

Steering angle error signal received from EPS control module

Detection condition

• Either a condition in which the steering angle sensor has a malfunction and the EPS control module has not performed steering angle neutral position auto learning, or a condition in which the EPS control module has a malfunction is detected for 5 s or more with the ignition switched ON (engine off or on).

Fail-safe function

• The swivel actuator is moved to the center.

• Control of the headlight auto leveling system is continued.

Possible cause

• DTCs are stored in the start stop unit.

• DTCs are stored in the EPS control module.

• EPS control module malfunction

• AFS control module malfunction

System wiring diagram

Not applicable

Step	Inspection	Action
1	VERIFY START STOP UNIT DTCs • Retrieve the start stop unit DTCs using the M-MDS. (See DTC INSPECTION [START STOP UNIT].) • Are any DTCs displayed?	Yes	Repair or replace the malfunctioning part according to the applicable DTC troubleshooting. (See DTC TABLE [START STOP UNIT].)
No	Go to the next step.
2	VERIFY EPS CONTROL MODULE DTCs • Retrieve the EPS control module DTCs using the M-MDS. (See ELECTRIC POWER STEERING (EPS) ON-BOARD DIAGNOSIS.) • Are any DTCs displayed?	Yes	Repair or replace the malfunctioning part according to the applicable DTC troubleshooting. (See ELECTRIC POWER STEERING (EPS) ON-BOARD DIAGNOSIS.)
No	Go to the next step.
3	PERFORM DTC INSPECTION AND VERIFY EPS CONTROL MODULE MALFUNCTION • Clear the DTC for the AFS control module using the M-MDS. (See CLEARING DTC [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)].) • Switch the ignition ON (engine off or on) and wait for 5 s or more. • Retrieve the AFS control module DTCs using the M-MDS. (See DTC INSPECTION [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)].) • Is the same DTC displayed?	Yes	Replace the EPS control module, then go to the next step. (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)
No	Go to Step 5.
4	VERIFY THAT REPAIRS HAVE BEEN COMPLETED • Clear the DTC for the AFS control module using the M-MDS. (See CLEARING DTC [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)].) • Switch the ignition ON (engine off or on) and wait for 5 s or more. • Retrieve the AFS control module DTCs using the M-MDS. (See DTC INSPECTION [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)].) • Is the same DTC displayed?	Yes	Repeat the inspection from Step 1. • If the malfunction recurs, replace the AFS control module. (See ADAPTIVE FRONT LIGHTING SYSTEM (AFS) CONTROL MODULE REMOVAL/INSTALLATION.) Go to the next step.
No	Go to the next step.
5	VERIFY IF OTHER DTCs DISPLAYED • Are any other DTCs displayed?	Yes	Repair or replace the malfunctioning part according to the applicable DTC troubleshooting. (See DTC TABLE [ADAPTIVE FRONT LIGHTING SYSTEM (AFS)].)
No	DTC troubleshooting completed.

Step

Inspection

Action

VERIFY START STOP UNIT DTCs

• Retrieve the start stop unit DTCs using the M-MDS.

(See DTC INSPECTION [START STOP UNIT].)

• Are any DTCs displayed?

Yes

Repair or replace the malfunctioning part according to the applicable DTC troubleshooting.

(See DTC TABLE [START STOP UNIT].)

Go to the next step.

VERIFY EPS CONTROL MODULE DTCs