EPS System Description - System Diagram
The steering force of the steering wheel is detected by the torque sensor, and the signal is sent to the EPS control unit. The EPS control unit calculates the torque assistance based on the steering torque signal and vehicle speed signal, and activates the motor to assist the steering force.
To activate the three-phase brushless motor properly, the motor angle sensor detects the motor angle, and sends the signal to the EPS control unit.
The EPS control unit sends the motor load status to the PCM.
The EPS control unit receives the vehicle behavior information from the VSA modulator-control unit.
The EPS control unit assists the steering force when the EPS control unit receives the steering assist request from the multipurpose camera unit.
When the EPS system detects a problem, the EPS control unit stores the DTC, and sends the signal to the gauge control module to illuminate the EPS indicator.

For locations of each component on vehicle, refer to Component Location Index:
F-CAN Communication Data
EPS System Receiving Signal
Transmitting Unit
Signal Name
PCM
Engine speed signal
Vehicle speed signal
Shift position signal*1
Service check signal
System failure Information
VSA modulator-control unit
Wheel speed signal
System operating state signal
Vehicle understeering state
Vehicle estimated longitudinal acceleration signal
Estimated L/R ? differential signal
System failure Information
Steering angle sensor
Steering angle signal
Multipurpose camera unit*2
LKAS mode signal
Instructing current signal
System failure Information
*1: CVT
*2: With LKAS

EPS System Transmitting Signal
Transmitting Unit
Signal Name
EPS control unit
Indicator drive signal
Motor load status
System failure Information
Steering torque signal*
Motor speed signal*
*: With LKAS