DTC Troubleshooting: C0051-96
DTC C0051-96: Steering Angle Sensor Failure (Sensor Detects Internal Failure)
NOTE: Before you troubleshoot, review the general troubleshooting information.

DTC Description
DTC
Freeze Frame
C0051-96 Steering Angle Sensor Failure (Sensor Detects Internal Failure)
    

1.
DTC check:

DTC check
?1.
Turn the vehicle to the ON mode.

?2.
Clear the DTC with the HDS.


?3.
Turn the vehicle to the OFF (LOCK) mode, then start the engine.

?4.
Turn the steering wheel left and right for a few times.

?5.
Check for DTCs with the HDS.
DTC Description
DTC
Freeze Frame
C0051-96 Steering Angle Sensor Failure (Sensor Detects Internal Failure)
    
U0029-00 CAN Communication Failure (Bus OFF)
    
U0126-00 CAN Communication Failure with Absolute Steering Wheel Angle Sensor
    

Is DTC C0051-96 indicated?

     
YES
     
     
     
If only DTC C0051-96 is indicated, go to step 2.
     
YES
     
     
     
If DTC U0029-00 or U0126-00 are also indicated, go to DTC U0029-00 or U0126-00.?
     
NO
     
     
     
Intermittent failure, the system is OK at this time. Refer to intermittent failures troubleshooting. If the freeze data/on-board snapshot of this DTC is recorded, try to reproduce the failure under the same conditions with the Freeze data/on-board snapshot.?
2.
Steering angle sensor check (substitution):

Steering angle sensor check (substitution)
?1.
Turn the vehicle to the OFF (LOCK) mode.

?2.
Substitute a known-good steering angle sensor.

?3.
Turn the vehicle to the ON mode.

?4.
Clear the DTC with the HDS.


?5.
Turn the vehicle to the OFF (LOCK) mode, then start the engine.

?6.
Turn the steering wheel left and right for a few times.

?7.
Check for DTCs with the HDS.
DTC Description
DTC
Freeze Frame
C0051-96 Steering Angle Sensor Failure (Sensor Detects Internal Failure)
    

Is DTC C0051-96 indicated?

     
YES
     
     
     
Go to step 3.
     
NO
     
     
     
3.
VSA modulator-control unit check (update):

VSA modulator-control unit check (update)
?1.
Update the VSA modulator-control unit if it does not have the latest software.

?2.
Turn the vehicle to the OFF (LOCK) mode, then start the engine.

?3.
Turn the steering wheel left and right for a few times.

?4.
Check for DTCs with the HDS.
DTC Description
DTC
Freeze Frame
     

Is DTC C0051-96 indicated?

     
YES
     
     
     
Check for loose terminals and poor connections in the VSA modulator-control unit 38P connector. If the VSA modulator-control unit was updated and the symptom/indication is still present, replace the VSA modulator-control unit.?
     
NO
     
     
     
Troubleshooting is complete. If any other DTCs are indicated, go to the indicated DTCs troubleshooting.?