POWER STEERING SYSTEM SYSTEM DIAGRAM

Transmitting ECU (Transmitter)	Receiving ECU	Signal	Communication Method
Power Management Control ECU	Power Steering ECU	HV battery voltage signal Ready status signal Execution torque signal HV flag signal Engine speed signal Engine variation information signal TC terminal condition 2WD or AWD information signal Transaxle information signal Gear information signal Diagnoses transmitting system signal	CAN
Skid Control ECU	Power Steering ECU	Vehicle speed (SP1) status signal Vehicle speed (SP1) signal Test mode signal VSC controlling signal ABS controlling signal FR, FL, RR and RL wheel speed signal FR, FL, RR and RL wheel speed sensor error signal Yaw rate 1 zero point signal GL1 zero point value signal Yaw G sensor installation information signal Yaw rate zero point error signal FR, FL, RR and RL wheel speed sensor power supply drop state signal TC signal Stop light switch signal Brake control distinction signal Vehicle state quantity signal Target additional torque signal Target steering angle, target additional torque validity signal Yaw rate 2 zero point value signal GL 2 zero point value signal G sensor zero point un-corrected status signal Yaw rate zero point un-corrected status signal Yaw rate zero point update information signal Torque steer assist torque signal Torque steer occurring signal Steering vibration occurring signal Torque steer assist torque validity signal Torque steer drive torque signal	CAN
Steering Angle Sensor	Power Steering ECU	Data continuity (valid/invalid) signal +B open circuit signal Sensor malfunction signal Steering angle signal Zero point memory (in sensor) valid/invalid signal Zero point (stored in steering angle sensor) signal Memorized zero point value inside steering angle sensor	CAN
Yaw Rate and Acceleration Sensor	Power Steering ECU	Yaw rate sensor 1 and 2 signal Yaw rate sensor 1and 2 (valid/invalid) signal Sensor power supply voltage (IG) (valid/invalid) signal Yaw rate sensor 1 and 2 error signal GL1, GX and GL2,GY sensor signal GL1,GX and GL2,GY sensor (valid/invalid) signal GL1,GX and GL2,GY sensor error signal Data output response non-request/request signal Yaw G sensor CPU monitor signal Sensor type distinction signal Yaw rate difference value signal	CAN
Main Body ECU	Power Steering ECU	Destination Package 1 and 2 signal	CAN
Power Steering ECU	A/C Amplifier	Loading control level signal	CAN
Power Steering ECU	Combination Meter	P/S warning light on request signal EPS diagnostic information signal	CAN
Power Steering ECU	Skid Control ECU	EPS cooperative control permission signal EPS Fail	CAN