ST-2 Steering System

Motor Driven Power Steering

De s c r i p t i o n
MDPS (Motor Dirven Power Steering) system uses an
electric motor to assist the steering force and it is an
engine operation independent steering system.
MDPS control module controls the motor operation
according to information received from the each sensor
and CAN (Controller Area Network),
resulting in a more precise and timely control of steering
assist than conventional engine-driven hydraulic
systems. Components (Steering Angle Sensor, Torque
Sensor, Fail-safe relay, etc.) of the MDPS system are
located inside the steering column. MDPS unit assembly,
steering column, and MDPS unit assembly must not be
disassembled for inspection. They must be replaced if
necessary.
Motor Driven Power Steering ST-3
C o mp o n e n t s

SMDST1021D

1. Steering column shaft 3. Motor

2. ECU 4. Steering gear box
ST-4 Steering System
S c h e ma t i c D i a g r a ms
MD P S C i r c u i t D i a g r a m

SJDST3004L
Motor Driven Power Steering ST-5
Ha r n e s s Co n n e c t o r

SDMST60141L
ST-6 Steering System
Ge n e r a l I n s p e c t i o n
N o t e Wi t h R e g a r d t o d i a g n o s i s
Tr oubl e f act or Ch e c k i t e m T r o u b l e s y mt o m Ex p l an a t i o n No t e
Drop, impact, and ove- Motor Abnormal noise - Visable or unvisable - Do not use the impa-
rload damage can occur.Th- cted MDPS.- Do not o-
ECU Circuit damage- Wron-
e steering wheel could verload each parts.
g welding point- Brok-
pull to one side by usi-
en PCB- Damaged pr-
ng the dropped parts.-
ecise parts
Precise parts of motor/
ECU are sensitive to
vibration and impact.-
Overload can cause u-
nexpected damage

Torque sensor Insufficient steering ef- Overload to INPUT sh- - Do not impact the co-
fort aft can cause malfunc- nnecting parts (When
tion of the torque sen- inserting and torquing)
sor - Use the specified to-
ol to remove the steer-
ing wheel. (Do not ha-
mmer on it)- Do not u-
se the impacted MDP-
S
Shaft Insufficient steering ef- Do not use the impact-
fort (Uneven between ed MDPS
LH and RH)
Pull/Dent Harness - Malfunction-impossi- Disconnection betwee- Do not overload the h-
ble power operation- n harness connecting arness
Malfunction of MDPS portion and harness
Abnormal storage tem- Motor/ECU Abnormal steering eff- - Waterproof at the no- - Keep the normal te-
perature ort by improper operat- rmal condition- Even a mperature and proper
ion of the motor/ECU little moisture can cau- moisture, while storag-
se malfunction of the ing- Avoid drowning
precise parts of the m-
otor/ECU

1. Do not impact the electronic parts, if they are

dropped or impacted, replace them with new ones.
2. Avoid heat and moisture to the electronic parts.
3. Do not contact the connect terminal to avoid
deformation and static electricity.
4. Do not impact the motor and torque sensor parts, if
they are dropped or impacted, replace them with new
ones.
5. The connector should be disconnected or connected
with IG OFF.
Motor Driven Power Steering ST-7
MD P S d i a g n o s i s p r i n c i p l e
This bulletin provides Motor Driven Power Steering
(MDPS) diagnostic procedure using GDS to diagnose
theheavy steering effort, abnormal position of steering
parts and MIL illumination in steering system.
- GDS judges the MDPS normal/abnormal state by
calculating the MDPS motor torque generated when
turning the steering wheel to left and right at 360˚ per
3 seconds.

SVFST5001L
ST-8 Steering System

SVFST5002L
Motor Driven Power Steering ST-9
MD P S P e r f o r ma n c e I n s p e c t i o n
1. Connect self-diagnosis connector(16pins) located in
the lower of driver side crash pad to self-diagnosis
device.
2. Turn the self-diagnosis device after key is ON.
3. After Selecting the "vehicle model" and "system",
select the "MDPS TEST" on GDS vehicle selection
screen.

SVFST5003L
ST-10 Steering System
4. Prepare a vehicle according to the required vehicle’s
conditions.

SVFST5004L

5. Search the DTCs relevant to the MDPS and then

erase them if found.

SVFST5005L
Motor Driven Power Steering ST-11
6. Perform the MDPS TEST.

SVFST5006L

7. If the results of MDPS performance inspection are

"OK", click "OK" and then finish the service work.

SVFST5007L
ST-12 Steering System
8. If the results of MDPS inspection are "Check", click - Inspect MDPS portions where are mounted to
"Inspection" and then inspect below items. the body. (Checking tightening conditions of
(1) MDPS Warning light illuminated bolts and nuts)
- Inspect universal joint mounting bolts.
(3) Inspection for heavy steering effort
- Inspect tire pressure and width.
- Check that the heavy steering effort occurs or
not when vehicle speed is not received.
- Check DTCs relevant to the CAN
communication error.
DT C Type Se r v i c e ac t i o n
C1611
SVFST5008D

- Inspect DTCs relevant to the steering system. C1616

Conduct diagnosis if
DT C Type Se r v i c e a c t i on C1622 DTCs do not recur aft-
er erasing DTCs
C1112 C1692

C1290 C1628
DTCs relevant to
C1604 C1693 the CAN commu-
nication
C1704 C1614
Conduct repair accor-
MDPS Warning l- C1696 Inspect CAN line if D-
C1705 ding to the DTC diagn-
ight illuminated TCs recur after erasin-
ostic guide. C1697
C2400 g DTCs.
C2401 C1812

C2412 C1817

C2413 (4) Other DTC judgment

(2) Vibration and Noise DT C Type Se r v i c e ac t i o n

C1102 Low voltageof ba- Conduct diagnosis aft-
C1109 ttery er inspecting battery.

Setting steering
Reset steering angle t-
C1261 angle to zero poi-
o zero point
nt
Overheated Conduct retest after c-
C1603
ooling MDPS motor.

SVFST5009D
Motor Driven Power Steering ST-13
M D P S S y s t e m S e r v i c e Wo r k f l o w

SDMST60001L
ST-14 Steering System
I n s p e c t i o n I t e ms p e r D T C
R e p l a c e me n t O r d e r
DT C DT C Co n t e n t Fai l ur e
1st 2nd 3r d
C2400 Motor Fault - Motor Not Running Failure in the motor p-
osition sensor or elect-
Motor ECU Assembly
C2401 Motor Position Sensor Error ronic element inside t-
he motor

C1604 ECU Hardware Error

Failure in an element i-
C1704 ECU Fail-Safe Relay Fault nside ECU, such as
ECU Assembly -
C1705 MDPS Module(pre-charge circuit) Malfunction MCU or current sensor

C2413 Motor Current Error

Failure in the 3-phase
line inside the motor
C2412 Motor Short or Open Motor ECU Assembly
Failure in the 3-phase
line inside the ECU
Motor Driven Power Steering ST-15
C h e c k i n g C o n n e c t o r s a n d Wi r i n g

• If a DTC occurs in the ECU or motor, check the

connectors and wiring. If no problem is found, replace
the ECU or motor.
1. Checking Connectors and Wiring
Check for damage, push-back, or improper
connection in each connector and wiring.
(1) Check the wiring on the vehicle side.
- Check for open/short-circuit due to faulty
connection, damage, or foreign substance.

SDMST60141L
ST-16 Steering System
(2) Check the wiring on the ECU side (motor 3-phase
power).
- Check for open/short-circuit due to faulty
connection, damage, or foreign substance.

SDMST60002D

P i n NO. P i n n a me
1 Pu
2 Pv
3 Pw
Motor Driven Power Steering ST-17
MD P S Mo t o r
R e p l a c e me n t 5. Disconnect the MDPS control unit connector and
then remove the wiring from the steering column.

• When a DTC related to MDPS motor occurs, check

the connectors and wiring. If no problem is found,
replace the motor.

• Be sure to check the last two digits of the constant in

the barcode of new MDPS motor before replacing the
motor.
• Entering incorrect motor constant value may cause a
serious problem in the MDPS.
1. Disconnect the battery negative cable from the
battery and then wait for at least 30 seconds.
2. Remove the crash pad lower panel.
SDMST60011D
(Refer to Body - "Crash Pad Lower Panel")
3. Separate the upper shroud and then remove the
lower shroud(A) by loosening the 3 screws.

SDMST60012D

SDMBE3142D

4. Disconnect the multifunction switch and clock spring

connector.
ST-18 Steering System
6. Disconnect the connector(A) and then remove the
stop lamp switch.

SDMST3016D

SDMBR3052D
• Be careful not to damage the driver's seat when
7. Remove the steering column (C) by loosening the
replacing the MDPS motor.
mounting bolt (B-1ea) and nut (A-2ea).
• Be careful not to damage the MDPS motor &
Ti ght eni ng t or que : ECU.
(A) 2.7 ~ 17.7 N.m(1.3 ~ 1.8 kgf.m, 9.4 ~ 13.0 lb-ft)
• If shock the motor, may occurs a noise caused by
(B) 44.1~ 49.0 N.m(4.5 ~ 5.0 kgf.m, 32.5 ~36.2 lb-ft)
the bearing damage of motor inside.
8. Remove the motor by loosening the bolts and then
replace the new one.

SDMST60007D

9. Install in the reverse order of removal.

SDMST3015D
Motor Driven Power Steering ST-19
10. Perform the "Inputting the motor constant value" by
GDS following in the order below.
(1) Connect self-diagnosis connector(16pins) located
in the lower of driver side crash pad to
self-diagnosis device.
(2) Turn the self-diagnosis device after key is ON.
(3) Select the "vehicle model" and "EPS system" on
GDS vehicle selection screen.
(4) Select the "Part exchange(Power steering
Motor)".

SDMST60006L
ST-20 Steering System
(5) Follow the instructions shown on the screen.

SDMST60007L

SDMST60008L
Motor Driven Power Steering ST-21

SDMST60009L

• Entering incorrect motor constant value may

cause a serious problem in the MDPS.
11. Conduct the "ASP Calibration" by GDS.
(Refer to MDPS Motor- "Diagnosis with GDS")
12. Remove the DTC and then perform the Conduct the
"MDPS TEST (Motor Driven Power Steering)" by
GDS.
(Refer to Motor Driven Power Steering - "MDPS
Performance Inspection")
13. Turn off the IGN switch and wait for 10 seconds or
more. Then check the operation after starting the
engine.
ST-22 Steering System
D i a g n o s i s w i t h GD S ASP Ca l i b r a t i o n p r o c e d u r e s
- Steering-angle sensor detects the steering angle and 1. Connect self-diagnosis connector(16pins) located in
steering angle speed. Steering angle and steering the lower of driver side crash pad to self-diagnosis
angle speed are used for steering wheel damping and device.
return controls in addition to providing assistance 2. Turn the self-diagnosis device after key is ON.
torque. 3. Turn the steering wheel to straight ahead position.
4. After Selecting the "vehicle model" and "system",
• You can use a scan tool to(GDS) check if the battery select the "ASP Calibration" on GDS vehicle
voltage is proper before perform the "ASP selection screen.
Calibration".
• Make sure that no connector engaged to the vehicle
or scan tool is disconnected during the "ASP
Calibration".
• Once the "ASP Calibration" is complete, turn off the
IG switch and wait for 10 seconds or more before
starting the engine to check the operation.

SDMST60010L
Motor Driven Power Steering ST-23

STLST6005N

5. Remove the DTC.

6. Turn off the IG switch and wait for 10 seconds or
more before starting the engine. And then make sure
that MDPS works properly.
ST-24 Steering System
MD P S C o n t r o l U n i t
R e p l a c e me n t

• If a DTC occurs in the ECU, check the connectors

and wiring. If no problem is found, replace the ECU.

• Before replacing the MDPS ECU, use the diagnostic

device to read the settings of the old ECU
1. Perform the "ECU data backup" by GDS following in
the order below.
(1) Connect self-diagnosis connector(16pins) located
in the lower of driver side crash pad to
self-diagnosis device.
(2) Turn the self-diagnosis device after key is ON.
(3) After Selecting the "vehicle model" and "EPS
system" on GDS vehicle selection screen.
(4) Select the "Part exchange(Power steering ECU)"

SDMST60011L
Motor Driven Power Steering ST-25
(5) Follow the instructions shown on the screen.

SDMST60012L

SDMST60013L
ST-26 Steering System
(6) Insert the VIN number and then select the "Read"
in order to the ECU information save.

SDMST60014L

SDMST60015L
Motor Driven Power Steering ST-27
2. Disconnect the battery negative cable from the 5. Remove the MDPS control unit from the steering
battery and then wait for at least 30 seconds. column after loosening the bolts.
3. Remove the crash pad lower panel.
(Refer to Body - "Crash Pad Lower Panel")
4. Disconnect the connector from the MDPS control
unit.

SDMST60003D

6. Replace the MDPS control unit after separating the

bracket.

SDMST60011D

SDMST60004D

7. Install in the reverse order of removal.

SDMST60012D
ST-28 Steering System
8. Install the connector to the MDPS control unit.

SDMST60011D

SDMST60012D
Motor Driven Power Steering ST-29
9. Perform the "ECU data restore" by GDS following in
the order below.
(1) Connect self-diagnosis connector(16pins) located
in the lower of driver side crash pad to
self-diagnosis device.
(2) Turn the self-diagnosis device after key is ON.
(3) After Selecting the "vehicle model" and "EPS
system" on GDS vehicle selection screen.
(4) Select the "Part exchange(Power steering ECU)"

SDMST60011L
ST-30 Steering System
(5) Follow the instructions shown on the screen.

SDMST60012L

SDMST60013L
Motor Driven Power Steering ST-31
(6) Insert the VIN number and then select the "Write"
in order to the ECU information save.

SDMST60014L

10. Conduct the "ASP Calibration" by GDS.

(Refer to MDPS Control Unit- "Diagnosis with GDS")
11. Remove the DTC and then perform the Conduct the
"MDPS TEST (Motor Driven Power Steering)" by
GDS.
(Refer to Motor Driven Power Steering - "MDPS
Performance Inspection")
12. Turn off the IGN switch and wait for 10 seconds or
more. Then check the operation after starting the
engine.
ST-32 Steering System
D i a g n o s i s w i t h GD S ASP Ca l i b r a t i o n p r o c e d u r e s
- Steering-angle sensor detects the steering angle and 1. Connect self-diagnosis connector(16pins) located in
steering angle speed. Steering angle and steering the lower of driver side crash pad to self-diagnosis
angle speed are used for steering wheel damping and device.
return controls in addition to providing assistance 2. Turn the self-diagnosis device after key is ON.
torque. 3. Turn the steering wheel to straight ahead position.
4. After Selecting the "vehicle model" and "system",
• You can use a scan tool to(GDS) check if the battery select the "ASP Calibration" on GDS vehicle
voltage is proper before perform the "ASP selection screen.
Calibration".
• Make sure that no connector engaged to the vehicle
or scan tool is disconnected during the "ASP
Calibration".
• Once the "ASP Calibration" is complete, turn off the
IG switch and wait for 10 seconds or more before
starting the engine to check the operation.

SDMST60010L
Motor Driven Power Steering ST-33

STLST6005N

5. Remove the DTC.

6. Turn off the IG switch and wait for 10 seconds or
more before starting the engine. And then make sure
that MDPS works properly.
ST-34
MD P S A s s e mb l y
R e mo v a l
1. Disconnect the battery negative cable from the
battery and then wait for at least 30 seconds.
2. Turn the steering wheel so that the front wheels can
face straight ahead.
3. Remove the airbag module.
(Refer to Restraint - "Driver Airbag (DAB) Module
and Clock Spring")
4. Disconnect the connector & lock nut (A) and then
remove the steering wheel by using special service
tools (09561-11001).
Ti ght eni ng t or que :
44.1 ~ 49.0N.m (4.5 ~ 5.0 kgf.m, 32.5 ~ 36.2
• Do not hammer on the steering wheel to remove
it; it may damage the steering column.
SDMST3004D
5. Remove the steering column shroud.
(Refer to Restraint - "Driver Airbag (DAB) Module
and Clock Spring")
6. Remove the clock spring.
(Refer to Restraint - "Driver Airbag (DAB) Module
and Clock Spring")
Steering System
7. Remove the multifunction switch.
(Refer to Body Electrical System - "Multifunction
switch")
8. Remove the crash pad lower panel.
(Refer to Body (Interior and Exterior) - "Crash Pad
Lower Panel")
9. Loosen the bolt (A) and then disconnect the universal
joint assembly from the pinion of the steering gear
box.
Ti ght eni ng t or que :
32.4 ~ 37.3 N.m(3.3 ~ 3.8 kgf.m, 23.9 ~ 27.5 lb-ft)
• Universal joint for gier box pinion shaft certainly is
signed by the insertion.
SLMST0011D
10. Disconnect all connectors (A) connected to the
steering column.
SDMST3014D
Motor Driven Power Steering
11. Remove the steering column (C) by loosening the
mounting bolt (B-1ea) and nut (A-2ea).
Ti ght eni ng t or que :
(A) 2.7 ~ 17.7 N.m(1.3 ~ 1.8 kgf.m, 9.4 ~ 13.0 lb-ft)
(B) 44.1~ 49.0 N.m(4.5 ~ 5.0 kgf.m, 32.5 ~36.2 lb-ft)
ST-35
D i s a s s e mb l y
U n i v e r s a l j o i n t a s s e mb l y
1. Loosen the bolt (A) and then disconnect the universal
joint assembly from the steering column assembly.
Ti ght eni ng t or que :
27.5 ~ 31.4 N.m(2.8 ~ 3.2 kgf.m, 20.3 ~ 23.1 lb-ft)

SDMST3015D

SDMST3017D

2. Reassembly is the reverse of the disassembly.

SDMST3016D

12. Install in the reverse order of removal.

13. Conduct the "ASP Calibration" and "EPS Type
Recognition" by GDS.
(Refer to MDPS Assembly - "Diagnosis with GDS")
14. Conduct the "MDPS TEST (Motor Driven Power
Steering)" by GDS.
(Refer to Motor Driven Power Steering - "MDPS
Performance Inspection")
ST-36 Steering System
K e y l o c k a s s e mb l y I nspect i on
1. Make a groove on the head of special bolts (A) by a 1. Check the steering column for damage and
punch. deformation.
2. Check the joint bearing for damage and wear.
3. Check the tilt bracket for damage and cracks.
4. Check the key lock assembly for proper operation
and replace it if necessary.

SRBST1018C

2. Loosen the special bolt using a screw driver and then

remove the key lock assembly from the steering
column assembly.
3. Reassembly is the reverse of the disassembly.
Motor Driven Power Steering ST-37
D i a g n o s i s w i t h GD S ASP Ca l i b r a t i o n p r o c e d u r e s
ASP Ca l i b r a t i o n 1. Connect self-diagnosis connector(16pins) located in
- Steering-angle sensor detects the steering angle and the lower of driver side crash pad to self-diagnosis
steering angle speed. Steering angle and steering device.
angle speed are used for steering wheel damping and 2. Turn the self-diagnosis device after key is ON.
return controls in addition to providing assistance 3. Turn the steering wheel to straight ahead position.
torque. 4. After Selecting the "vehicle model" and "system",
select the "ASP Calibration" on GDS vehicle
selection screen.
• You can use a scan tool to(GDS) check if the battery
voltage is proper before perform the "ASP
Calibration".
• Make sure that no connector engaged to the vehicle
or scan tool is disconnected during the "ASP
Calibration".
• Once the "ASP Calibration" is complete, turn off the
IG switch and wait for 10 seconds or more before
starting the engine to check the operation.

SDMST60010L
ST-38 Steering System

STLST6005N
Motor Driven Power Steering ST-39
EPS T y p e Re c o g n i t i o n EPS T y p e Re c o g n i t i o n p r o c e d u r e s
1. Connect self-diagnosis connector(16pins) located in
the lower of driver side crash pad to self-diagnosis
• When missing the EPS Type Recognition, occure a
device.
problem with motor driven power steering
2. Turn the self-diagnosis device after key is ON.
performance.
3. Turn the steering wheel to straight ahead position.
4. After Selecting the "vehicle model" and "system",
• You can use a scan tool to(GDS) check if the battery select the "EPS Type Recognition" on GDS vehicle
voltage is proper before perform the "EPS Type selection screen.
Recognition".
• Make sure that no connector engaged to the vehicle
or scan tool is disconnected during the "EPS Type
Recognition".
• Once the "EPS Type Recognition" is complete, turn
off the IG switch and wait for 10 seconds or more
before starting the engine to check the operation.

SDMST60016L
ST-40 Steering System

SDMST60003L

5. Remove the DTC.

6. Turn off the IG switch and wait for 10 seconds or
more before starting the engine. And then make sure
that MDPS works properly.
Motor Driven Power Steering ST-41
S t e e r i n g Ge a r b o x
R e mo v a l 4. Loosen the bolt & nut and then remove the lower arm
1. Remove the front wheel and tire (A) from front hub. (A).

Ti ght eni ng t or que : Ti ght eni ng t or que :

88.2 ~ 107.8 N.m (9.0 ~ 11.0 kgf.m, 65.0 ~ 79.5 lb-ft) 98.1 ~ 117.7N.m (10.0 ~ 12.0kgf.m, 72.3 ~ 86.8lb-ft)

• Be careful not to damage to the hub bolts when

removing the front wheel and tire (A).
2. Disconnect the stabilizer link (B) with the front strut
assembly (A) after loosening the nut.
Ti ght eni ng t or que :
98.1 ~ 117.7N.m (10.0 ~ 12.0kgf.m, 72.3 ~ 86.8lb-ft)

SSLSS1006D

5. Loosen the bolt (A) and then disconnect the universal

joint assembly from the pinion of the steering gear
box.
Ti ght eni ng t or que :
32.4 ~ 37.3N.m (3.3 ~ 3.8kgf.m, 23.9 ~ 27.5lb-ft)

SLMSS0003D
• Keep the neutral-range to prevent the damage of
the clock spring inner cable when you handle the
3. Remove the sprit pin and castle nut and then
steering wheel.
disconnect the tie-rod end (A) from the front knuckle.
• Do not use the bolt again.
Ti ght eni ng t or que :
23.5 ~ 33.3N.m (2.4 ~ 3.4kgf.m, 17.4 ~ 24.6lb-ft)

SSLST1001D

SLMST0014D
ST-42 Steering System
6. Remove the under cover. 8. Remove the roll rod stopper bolt (A).
(Refer to Engine Mechanical System - "Engine Room Ti ght eni ng t or que :
Under Cover") 107.9 ~ 127.5N.m (11.0 ~ 13.0kgf.m, 79.6 ~ 94.0lb-ft)
7. Loosen the bolt (A,B) and then remove the upper roll
rod bracket.
Ti ght eni ng t or que :
(A) 107.9 ~ 127.5N.m (11.0 ~ 13.0kgf.m, 79.6 ~ 94.0lb-ft)
(B) 49.0 ~ 63.7N.m (5.0 ~ 6.5kgf.m, 36.2 ~ 47.0lb-ft)

• Bolt (A) is the bolt only special bolts are not

reusable.

SDMSS3048D

9. Disconnect the muffler rubber hanger (A).

SDMDS3006D

SDMSS3009D
Motor Driven Power Steering ST-43
10. Loosen the bolts & nuts and then remove the sub 11. Loosen the bolt (A-4ea) and then remove the
frame. stabilizer bar (B) from the sub frame.
Ti ght eni ng t or que : Ti ght eni ng t or que :
Bolts : 49.0 ~ 63.7N.m (5.0 ~ 6.5kgf.m, 36.2 ~ 47.0lb-ft)
(A) 44.1 ~ 58.8N.m (4.5 ~ 6.0kgf.m, 32.5 ~ 43.4lb-ft)
(B) 156.9 ~ 176.5N.m (16.0 ~ 18.0kgf.m, 115.7 ~
130.2lb-ft)
Nuts :
(C) 44.1 ~ 58.8N.m (4.5 ~ 6.0kgf.m, 32.5 ~ 43.4lb-ft)
(D) 156.9 ~ 176.5N.m (16.0 ~ 18.0kgf.m, 115.7 ~
130.2lb-ft)

SDMSS3010D

12. Loosen the bolt and then remove the protector (A).
Ti ght eni ng t or que :
6.9 ~ 10.8 N.m(0.7 ~ 1.1 kgf.m, 5.1 ~ 8.0 lb-ft)

SDMSS3011D

SDMSS3012D
ST-44 Steering System
13. Remove the steering gearbox (B) from the cross
member by loosening the mounting bolt (A-4ea).
Ti ght eni ng t or que :
88.2 ~ 107.8 N.m (9.0 ~ 11.0 kgf.m, 65.0 ~ 79.5 lb-ft)

SDMSS3013D

14. Installation is the reverse of removal.

15. Check the front alignment.
(Refer to Suspension System - "Front Alignment")