EPS System: Fail-Safe

If any malfunction occurs in the system and control module detects the malfunction, power steering warning light on combination meter turns ON to indicate system malfunction.
When the system enters the fail-safe state, the power steering warning light turns ON and the system will be in the condition described in the table below. When the system is in the manual steering state, the steering becomes heavy.

DTC	Fail-safe condition
C1601-16	Manual steering state
C1601-17
C1604-96
C1606-96
C1608-43
C1608-44	Limited steering state
C1608-46	Limited steering state
C1608-49	Manual steering state
C1608-52	Limit MI-PILOT Assist system level state
C1608-54	Normal state (According to default calibration)
C160B-54	Normal state (According to default calibration)
C161A-82	Limit Lane Keep Assist [LKA] level state
C161A-83
C161A-86
C161A-87
C161B-82	Limit Lane Keep Assist [LKA] level state Limited steering state
C161B-83
C161B-86
C161B-87
C161C-82	Limited steering state
C161C-83
C161C-86
C161C-87
C161E-82	Limit Lane Keep Assist [LKA] level state
C161E-83
C161E-86
C161E-87
C161F-86	Lock the drive mode function to the last position
C161F-87	Lock the drive mode function to the last position
C1620-82	Limit Lane Keep Assist [LKA] level state
C1620-83
C1620-87
C1621-86	Normal state
C1621-87
C1623-86
C1623-87
C1629-87	Manual steering state
C162A-87	Normal state
C1630-87	Limited steering state
C1632-86	Limit Lane Keep Assist [LKA] level state
C1633-86	Normal state
C1633-87
C1634-86
C1635-87	Manual steering state
C1636-87	Limit ADAS function
C1639-87
C163A-64
C163A-82
C163A-83
C163A-86
C163A-87
C163D-86
C163E-86	Limit Lane Keep Assist [LKA] level state
U0076-00	Limited steering state
U1321-55	Normal control (According to default calibration)
U2140-87	Manual steering state
U2148-87	Limited steering state
U214E-87	Limit ADAS function
U214F-87	Normal state
U2152-87	Limit ADAS function
U2154-87	Limit ADAS function
U2156-87	Limited steering state
U215B-87	Manual steering state
U2176-87	Lock the drive mode function to the last position