Normal Operation and Fault Conditions
WARNING: This page is about a different car, the 2018 Ford Focus. However, it is still accessible from the selected car via links, so may be relevant.
The PSCM calculates steering wheel rotation speed, angle and direction of rotation and sends the information to the ABS module over the HS-CAN2. A failure of the HS-CAN2, the PSCM or the internal sensors causes the ABS module to set one or more DTCs is set and the ABS warning indicator is illuminated.