DTC U2100: Initial Configuration Not Complete: Action

ATTEMPT to CONFIGURE the PSCM using programmable module installation (PMI) refer to MODULE CONFIGURATION SYSTEM . Otherwise, CONFIGURE the PSCM using vehicle as-built data. Clear the DTC and repeat the self-test. If the DTC returns install a new EPAS gear referring to STEERING GEAR -- ELECTRONIC POWER ASSIST STEERING (EPAS) .