When a CPU problem or an abnormal power supply voltage is detected, the MICU moves to the hardware failsafe mode, and each system output load is set to the pre-programmed failsafe value.

When any of the data from the B-CAN cannot be received within a specified time, or an unusual combination of the data is recognized, the MICU moves to the software failsafe mode. The data that cannot be received is forced to a pre-programmed value.