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Freeze Frame Data [12/2017 - 10/2023]

HINT: 

The VGRS system stores data when a trouble code is stored which can be viewed using the Techstream.

  1. FREEZE FRAME DATA OF VGRS ECU (FRONT STEERING CONTROL ECU) 
    1. Connect the Techstream to the DLC3.
    2. Turn the engine switch on (IG).
    3. Turn the Techstream on.
    4. Enter the following menus: Chassis / VGRS / Trouble Codes.

      Chassis > VGRS > Trouble Codes 

    5. According to the display on the Techstream, select the trouble code data display with Freeze Frame Data.

      Chassis > VGRS 

      Tester Display Measurement Item Range Normal Condition Diagnostic Note
      Steering Angle Steering angle Min.: -1638.40 deg
      Max.: 1638.35 deg      		 -600 to 600 deg -
      Steering Angle Changing Speed Steering angle changing speed Min.: -1638.40 deg/s
      Max.: 1638.35 deg/s      		 -1146 to 1146 deg/s -
      Vehicle Speed Vehicle speed Min.: 0.00 km/h (0 mph)
      Max.: 327.67 km/h (203 mph)      		 Actual vehicle speed -
      Starting Status Starting status Stop or Starting-up Stop: Engine stopped
      Starting-up: Engine running      		 -
      IG Power Supply Voltage IG power supply voltage Min.: 0.00 V
      Max.: 255.99 V      		 11 to 14 V -
      PIG Power Supply Voltage PIG power supply voltage Min.: 0.00 V
      Max.: 255.99 V      		 11 to 14 V -
      Power Supply Status Power supply status Normal, N Pos Stop, Cur Pos Stop or Prompt Stop Normal If the result is not as specified, the vehicle power supply voltage may be low.
      Limit Power Request(from EPS) Limit power request ON or OFF OFF -
      Stop Request(from EPS) Stop request ON or OFF OFF -
      System Heavily-loaded Status System heavily-loaded status ON or OFF OFF -
      ECU Substrate Temperature ECU substrate temperature Min.: -256.00°C (-428°F)
      Max.: 255.99°C (492°F)      		 Within 20°C (68°F) of ambient temperature -
      Motor Temperature(ECU Calculated Value) Motor temperature Min.: -256.00°C (-428°F)
      Max.: 255.99°C (492°F)      		 Within 20°C (68°F) of ambient temperature -
      Ambient Temperature Ambient temperature Min.: -40°C (-40°F)
      Max.: 50°C (122°F)      		 Same as ambient temperature -
      System Overheat Status System overheat status Normal, Overheat-Weak, Overheat-Mid or Overheat-Strong Normal If the result is not as specified, the applied load to the VGRS system may be high.
      ECU Substrate Temperature(ECU Calculated Value) ECU substrate temperature Min.: -256.00°C (-428°F)
      Max.: 255.99°C (492°F)      		 -40 to 70°C (-40 to 158°F) -
      Wheel Angle(SIL Communication) Wheel angle (SIL communication) Min.: -1638.40 deg
      Max.: 1638.35 deg      		 -600 to 600 deg -
      Wheel Angle(CAN Communication) Wheel angle (CAN communication) Min.: -1638.40 deg
      Max.: 1638.35 deg      		 -600 to 600 deg -
      Steering Angle Sensor Communication Protocol Steering sensor communication protocol Calc Val Fix, SIL or CAN SIL -
      Direct Advance Wheel Angle Direct advance wheel angle Min.: -1638.40 deg
      Max.: 1638.35 deg      		 -10.5 to 10.5 deg -
      Direct Advance Wheel Angle Status Direct advance wheel angle status Delete, Temp Val or Fixed Val Fixed Val If the result is not as specified, the steering sensor could not be recognized in the neutral position.
      Motor Resolver Electrical Angle Motor resolver electrical angle Min.: 0.00 deg
      Max.: 359.99 deg      		 0.00 to 359.99 deg -
      Changing Amount of Motor Resolver Electrical Angle Changing amount of motor resolver electrical angle Min.: -180.00 deg
      Max.: 179.99 deg      		 -46 to 46 deg -
      Motor Resolver SIN Phase Shaped Width Motor resolver SIN phase amplitude/ Min.: -5.00 V
      Max.: 4.99 V      		 -4.1 to 4.1 V -
      Motor Resolver SIN Phase Offset Motor resolver SIN phase offset Min.: 0.00 V
      Max.: 19.99 V      		 5 to 15 V -
      Motor Resolver COS Phase Shaped Width Motor resolver COS phase amplitude Min.: -5.00 V
      Max.: 4.99 V      		 -4.1 to 4.1 V -
      Motor Resolver COS Phase Offset Motor resolver COS phase offset Min.: 0.00 V
      Max.: 19.99 V      		 5 to 15 V -
      Motor Resolver Shaped Width Squared Sum Sum of squares of motor resolver amplitudes Min.: 0.00 V^2
      Max.: 25.00 V^2      		 1.4 to 16.6 V^2 -
      Deep Groove Electrical Angle Position Deep groove electrical angle position Min.: 0.00 deg
      Max.: 359.99 deg      		 75 to 145 deg -
      Neutral Position Calibration Status Neutral position calibration status Incmpl or Cmpl Cmpl -
      Actuator Target Angle Actuator target angle Min.: -512.00 deg
      Max.: 511.98 deg      		 -150 to 150 deg -
      Actuator Angle Actuator angle Min.: -512.00 deg
      Max.: 511.98 deg      		 -150 to 150 deg -
      Pinion Angle Status Pinion angle status Invalid or Valid Valid If the result is not as specified, the VGRS system may be malfunctioning.
      Pinion Angle Pinion angle Min.: -2048.00 deg
      Max.: 2047.93 deg      		 -600 to 600 deg -
      Motor U Phase Voltage Motor U phase voltage Min.: 0.00 V
      Max.: 255.99 V      		 0 to 14 V -
      Motor V Phase Voltage Motor V phase voltage Min.: 0.00 V
      Max.: 255.99 V      		 0 to 14 V -
      Motor W Phase Voltage Motor W phase voltage Min.: 0.00 V
      Max.: 255.99 V      		 0 to 14 V -
      Motor U Phase Current Motor U phase current Min.: -256.00 A
      Max.: 255.99 A      		 -75 to 75 A -
      Motor V Phase Current Motor V phase current Min.: -256.00 A
      Max.: 255.99 A      		 -75 to 75 A -
      Motor W Phase Current Motor W phase current Min.: -256.00 A
      Max.: 255.99 A      		 -75 to 75 A -
      Motor U Phase Duty Motor U phase duty Min.: 0.00 %
      Max.: 100.00 %      		 6 to 94 % -
      Motor V Phase Duty Motor V phase duty Min.: 0.00 %
      Max.: 100.00 %      		 6 to 94 % -
      Motor W Phase Duty Motor W phase duty Min.: 0.00 %
      Max.: 100.00 %      		 6 to 94 % -
      PIG Current PIG current Min.: -256.00 A
      Max.: 255.99 A      		 -50 to 50 A -
      Motor q Axis Target Voltage Motor q axis target voltage Min.: -32.00 V
      Max.: 31.99 V      		 -6 to 6 V -
      Motor q Axis Current Motor q axis current Min.: -256.00 A
      Max.: 255.99 A      		 -92 to 92 A -
      Motor d Axis Current Motor d axis current Min.: -256.00 A
      Max.: 255.99 A      		 -10 to 13 A -
      Motor Rotation Speed Motor rotation speed Min.: -32768 deg/s
      Max.: 32767 deg/s      		 -17190 to 17190 deg/s -
      Lock Solenoid Voltage Lock solenoid voltage Min.: 0.00 V
      Max.: 255.99 V      		 0 to 14 V -
      Lock Status Lock status Pin Pos Indef, Pin Inserting, Pin Vadum Insert, Pin Inserted, Pin Insert Confirming, Pin Insert Confirmed, Pin Insert Mal, Release Start, Pin Release Confirmed, Pin Release Confirmed, Pin Release Mal, Pin Released, Pin Release Impos, Line Power OFF or Pin Insert Waiting Pin Released If the result is not as specified, the VGRS system may not be operating.
      Lock Solenoid Duty Lock solenoid duty Min.: 0 %
      Max.: 100 %      		 0 to 100 % -
      Rear Target Wheel Angle Rear target wheel angle Min.: -8.00 deg
      Max.: 7.99 deg      		 -1.0 to 1.0 deg -
      Rear Wheel Angle Rear wheel angle Min.: -8.00 deg
      Max.: 7.99 deg      		 -1.0 to 1.0 deg -
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