Alerts

The Electronic Power Assist Steering (EPAS) ECU detects that the CAN transmit error counter is above 255.

Steering assist may be reduced or may not function as expected. Since External Angle Control (EAC) requests may be rejected, Autopilot features may be unavailable or may not function as expected.

EPAS3P/S_statusCounter is not incrementing correctly

Incorrect EPS status on bus

Primary and Secondary ECU are running different versions

Reduced steering assist

Powerpack Polarity service not performed or incorrect value stored

Reduced steering assist

Cogging torque service is not performed or incorrect value is stored

Leads to torque ripple

Master and Slave ECUs INIT Arbitration Failed

Reduced steering assist and EAC inhibited

Backup ECU motor current measurement plausibility error

Reduced steering assist

Phase disconnect FET startup check error

Reduced steering assist

High-side FET startup check error

Reduced steering assist

Temperature sensor value is not within limit (-50 deg ~ 125 deg)

Reduced steering assist and EAC inhibited

Gate Drive PWR status signal is monitored wrto the FSP /SMU signal set to LOW). If they do not agree fault is set

Reduced steering assist and EAC inhibited

OHP limit reports a value less than 140A.

Steering assist is reduced and External Angle Control (EAC) is degraded.

if Ke < 24.6 or > 25.6mV/(rad/s), Ke=25.1mV/(rad/s)

Leads to Torque Ripple

| estimated torque (back calculated from PWM duty & observer) - Command torque | > 1.2Nm

Reduced steering assist and EAC inhibited

|ESP_Vehicle speed - DI_axleSpeed*.12384| > 3KPH + 0.1*ESP_Vehicle speed

Reduced assist

HOD level in path1 is not the same as path2

EAC inhibited

|torque command path1 - path2| > 0.1Nm

EAC inhibited

|torque command path1 - path2| > 0.6Nm

Reduced steering assist

|torque command path1 - path2| > 10A (0.6Nm)

Reduced steering assist

Active return controller correlation error

Reduced steering assist