Diagnosis flow code: D

Step	Action	Yes	No
1	Power and ground circuit check of steering angle sensor Check steering angle sensor power and ground circuits. Is it in good condition?	Go to Step 2.	Repair power and/or ground circuit.
2	CAN communication circuit check Turn ignition switch to OFF position. Disconnect connector from steering angle sensor and ESP® control module. Check for proper terminal connection to CAN communication circuit at steering angle sensor and ESP® control module connectors. If OK, check CAN communication circuits between steering angle sensor connector and ESP® control module connector for breaking. Is each CAN communication circuit in good condition?	Replace steering angle sensor.	Repair CAN communication circuit.