DTC C0051:86 [ADAPTIVE LED HEADLIGHTS CONTROL MODULE]

System malfunction location	Error steering angle signal received from EPS control module
Detection condition	• Either a condition in which the steering angle sensor has a malfunction and the EPS control module has not performed steering angle neutral position auto learning, or a condition in which the EPS control module has a malfunction is detected for 5 s or more.
Fail-safe	• When the setting is on using the personalization feature, the headlights HI turn on. (When setting is off using personalization feature, headlight HI illumination on/off depends on control by front body control module (FBCM)) • Control of the headlight auto leveling system is continued.
Possible cause	• DTCs are stored in the start stop unit. • DTCs are stored in the EPS control module. • EPS control module malfunction • Adaptive LED headlights control module malfunction
System wiring diagram	—

System malfunction location

Error steering angle signal received from EPS control module

Detection condition

• Either a condition in which the steering angle sensor has a malfunction and the EPS control module has not performed steering angle neutral position auto learning, or a condition in which the EPS control module has a malfunction is detected for 5 s or more.

Fail-safe

• When the setting is on using the personalization feature, the headlights HI turn on. (When setting is off using personalization feature, headlight HI illumination on/off depends on control by front body control module (FBCM))

• Control of the headlight auto leveling system is continued.

Possible cause

• DTCs are stored in the start stop unit.

• DTCs are stored in the EPS control module.

• EPS control module malfunction

• Adaptive LED headlights control module malfunction

System wiring diagram

—

Step	Inspection	Action
1	VERIFY START STOP UNIT DTCs • Perform the DTC inspection for the start stop unit using the M-MDS. (See DTC INSPECTION [START STOP UNIT].) • Is the DTC displayed?	Yes	Repair the malfunctioning part according to the applicable DTC troubleshooting. (See DTC TABLE [START STOP UNIT].)
No	Go to the next step.
2	VERIFY EPS CONTROL MODULE DTCs • Perform the DTC inspection for the EPS control module using the M-MDS. (See DTC INSPECTION [ELECTRIC POWER STEERING (EPS)].) • Is the DTC displayed?	Yes	Repair the malfunctioning part according to the applicable DTC troubleshooting. (See DTC TABLE [ELECTRIC POWER STEERING (EPS)].)
No	Go to the next step.
3	PERFORM DTC INSPECTION AND VERIFY IF MALFUNCTIONING PART IS EPS CONTROL MODULE • Clear the adaptive LED headlights control module DTCs using the M-MDS. (See CLEARING DTC [ADAPTIVE LED HEADLIGHTS CONTROL MODULE].) • Switch the ignition ON (engine off or on) and wait for 5 s or more. • Perform the DTC inspection for the adaptive LED headlights control module using the M-MDS. (See DTC INSPECTION [ADAPTIVE LED HEADLIGHTS CONTROL MODULE].) • Is DTC C0051:86 displayed?	Yes	Replace the EPS control module, then go to the next step. (See STEERING WHEEL AND COLUMN REMOVAL/INSTALLATION.)
No	Go to Step 5.
4	VERIFY THAT REPAIRS HAVE BEEN COMPLETED • Clear the adaptive LED headlights control module DTCs using the M-MDS. (See CLEARING DTC [ADAPTIVE LED HEADLIGHTS CONTROL MODULE].) • Switch the ignition ON (engine off or on) and wait for 5 s or more. • Perform the DTC inspection for the adaptive LED headlights control module using the M-MDS. (See DTC INSPECTION [ADAPTIVE LED HEADLIGHTS CONTROL MODULE].) • Is DTC C0051:86 displayed?	Yes	Replace the adaptive LED headlights control module, then go to the next step. (See ADAPTIVE LED HEADLIGHTS CONTROL MODULE REMOVAL/INSTALLATION.)
No	Go to the next step.
5	VERIFY IF OTHER DTCs DISPLAYED • Are any other DTCs displayed?	Yes	Repair the malfunctioning part according to the applicable DTC troubleshooting. (See DTC TABLE [ADAPTIVE LED HEADLIGHTS CONTROL MODULE].)
No	DTC troubleshooting completed.

Step

Inspection

Action

VERIFY START STOP UNIT DTCs

• Perform the DTC inspection for the start stop unit using the M-MDS.

(See DTC INSPECTION [START STOP UNIT].)

• Is the DTC displayed?

Yes

Repair the malfunctioning part according to the applicable DTC troubleshooting.

(See DTC TABLE [START STOP UNIT].)

Go to the next step.

VERIFY EPS CONTROL MODULE DTCs