Hyundai Santa Fe (TM): Motor Driven Power Steering

Hyundai Santa Fe TM 2019-2023 Service Manual / Steering System / Motor Driven Power Steering

Description and operation

Description

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,

MDPS system inspection is possible for each component, but replacement is possible only for partial units, and other parts should not be disassembled.

Schematic diagrams

Schematic Diagrams

Harness Connector

Type	Pin No	Description
MDPS Power	1	Battery -
MDPS Power	2	Battery +
MDPS Unit	1	-
	2	-
	3	IG 1
	4	C-CAN [High]
	5	C-CAN [Low]
	6	-

Repair procedures

A/S Repair produres [C-MDPS]

MDPS System A/S Workflow

① Noise / malfunction Inspection

② Warning lamp (DTC) / CAN Line error

2 - 1 Checking Connectors and Wiring

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.

(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.

(3)

Check the motor connector.

–

Terminal Expansion and damage

•	Must be replaced the MDPS motor if occur terminal expansion and damage.

(4)

Check the motor wiring.

•	Must be replaced the MDPS motor if occur damage or problem.

(5)

Remove the grommet (A) and then check the wiring on the TAS side (B) and ECU side (C).

–

Check for damage, push-back, or improper connection in each connector and wiring.

Must be replaced the MDPS assembly if occur damage or problem.

Check the TAS wiring in case of C1259/C1290 DTC.

2 - 2 Inspection Items per DTC

DTC	Problem	First analysis method	How to repair
C1290	Torque sensor signal error	First erase DTC, check connector connection.	In case of reoccurrence, replace column & housing.
C1112	Torque sensor voltage error	Check connector between torque sensor and ECU.	In case of reoccurrence, replace ECU.
C1705	ECU hardware error	First erase DTC and then check, check ECU connector.
C1604	ECU over/discharge error
C2413	ECU hardware error
C2400	Motor signal error		IIn case of reoccurrence, replace motor.
C2401	Motor circuit error		IIn case of reoccurrence, replace motor.
C2412	Motor voltage supply error	First erase DTC and check, Check ECU/motor connector.	First replace ECU. In case of reoccurrence, replace motor.
C1259	Angle sensor signal error	After Resetting zero point & erasing DTC, check connector connection condition.	In case of reoccurrence, replace column & Housing.
C1261	Zero-setting error	After Resetting zero point, recheck.	Reset the zero-setting.
C1102	Battery voltage problem	Check battery voltage condition.	Recharge battery voltage.
C1696,C1697	SPAS signal error	Check SPAS.	Erase DTC (MDPS is not to be replaced).
C1612,C1646	TCU signal error	Check TCU.
C1628,C1656	Instrument cluster signal error	Check instrument cluster.
C1692,C1693	VSM signal error	Check VSM.
C1260	Angle sensor signal error	After resetting the angle, recheck. If C1259 does not occur, check CAN line.	Reset Angle sensor. Erase DTC.
C1611	CAN time out EMS	1. Check G-SCAN condition. 2. Check connector connection. 3. Check ECU CAN line. 4. Check MDPS ground line.	Check the EMS CAN Line.
C1616	CAN BUS OFF		Check the chassis CAN Line.
C1622	Vehicle speed signal error		Check the EMS (Engine ECU).
C1623,C1687,C1688	Can time out Steering angle sensor	1. Check MDPS Power Connector & FUSE 2. Check MDPS Ground line 3. Check MDPS ECU / VSM CAN line 4. Communication status with diagnostic tool	In case of reoccurrence, replace ECU (Heavy steering and no communication)

③ MDPS Performance Inspection

1.	Inspect steering angle and DTCs relevant to the steering system.

Inspection for heavy steering effort

(1)	Inspect tire pressure and width.

(2)	Check DTCs relevant to the CAN communication error.

(3)	Check the wheel alignment.

④ MDPS common problems

Case 1	Case 2	Case 3

U-Joint noise	Clock spring noise	DAB / Wire noise
Retighten the bolt	Replace clock spring	Rearrange and replace DAB

Case 4	Case 5	Case 6

Multifunction switch noise	MB nut mount defect	M10 nut mount defect
Replace multifunction switch	Retighten nut	Retighten nut

Case 7	Case 8

Cowl top bolt mount defect	Cowl bar nut mount defect
Retighten cowl top bolt	Replace clock spring

Cautions to be taken when handling the MDPS (Motor Driven Power Steering)

•	Failure occurs due to internal damage because of the drop of and shock and excessive external force on the new partial component. → Be cautious of shock on the partial component and replace the damaged part (due to drop, etc.) with a new one.

•	When fastening the steering, excessive impact may result in twisting the center point of the torque sensor.

•	When removing/installing the connector the wiring may be damaged (deformed) by excessive external force.

•	Be cautious when storing and replacing the partial components under the abnormal temperature and humidity conditions.

A/S Repair Procedures [R-MDPS]

Column & Housing Noise Repair Guide

R-MDPS Warning lamp Diagnosis Guide

Inspection Items per DTC

NO	DTC	Problem	Items to check
1	C110117	High battery voltage	1. Generator
			2. Battery
			3. MDPS ECU
2	C110216	Low battery voltage	1. Generator
			2. Battery
			3. MDPS ECU
3	C110921	IG1 voltage error	1. Generator
			2. IGN Line
			3.MDPS ECU
4	C111201	Torque sensor supply voltage error	1. MDPS ECU
5	C120286	Wheel speed sensor signal error	1. CAN Line
	C120586		2. MDPS ECU
	C120886		3. Wheel sensor line
	C121186
6	C125901	Steering angle circuit error	1. MDPS ECU
	C125929
	C125938
7	C126154	Steering angle sensor zero point error	1. Whether to initialize steering angle
			2. Battery
8	C126204	Temperature sensor error	1. Temperature sensor
			(MDPS ECU)
9	C129002	Torque sensor main signal error	1. Main torque sensor
			2. Torque sensor connector
10	C16034B	Out put descent (Prevent overheating)	1. MDPS ECU
11	C160404	ECU hardware error	1. MDPS ECU
12	C160604	MDPS ECU software error	1. MDPS ECU
13	C161187	ECU CAN communication response delay	1. Check engine ECU CAN line
			2. Check CAN Line
14	C161386	ECU CAN communication signal error	1. Check engine ECU CAN line
			2. Check CAN Line
15	C161487	HCU CAN communication response delay	1. Check engine ECU CAN line
			2. Check CAN Line
16	C161688	CAN BUS error	1. Check CAN Line
17	C161C86	HCU CAN communication signal error	1. Check engine ECU CAN line
			2. Check CAN Line
18	C162887	CLU CAN communication response delay	1. CAN Line
			2. MDPS ECU
			3. Cluster
19	C162986	CLU CAN communication signal error	1. CAN Line
			2. MDPS ECU
			3. Cluster
20	C163386	CLU CAN communication signal error	1. CAN Line
			2. MDPS ECU
			3. Cluster
21	C165987	CAN SAS signal not entered	1. SAS Delivery UNIT
			2. CAN Line
22	C169287	VSM CAN signal not entered	1. CAN Line
			2. MDPS ECU
			3. BCM (IPM)
23	C169386	VSM CAN signal error	1. CAN Line
			2. MDPS ECU
			3. BCM (IPM)
24	C169687	PA CAN signal not entered	1. CAN Line
			2. MDPS ECU
			3. SPAS ECU
25	C169786	PA CAN signal error	1. CAN Line
			2. MDPS ECU
			3. SPAS ECU
26	C170004	Specification recognition not applied (BYTE)	1. MDPS ECU
27	C170255	Specification recognition not applied (Variant)	1. Select regional specifications
28	C170401	ECU safety relay error	1. MDPS ECU
29	C170504	ECU spare charge circuit error	1. Motor relay
			2. MDPS ECU
30	C171101	Abnormal power OFF accumulate	1. Generator
			2. Battery
			3. MDPS ECU
31	C180487	LKAS CAN signal not entered	1. CAN Line
			2. MDPS ECU
			3. LKAS ECU
32	C180586	LKAS CAN signal error	1. CAN Line
			2. MDPS ECU
			3. LKAS ECU
33	C181483	CAN SAS signal error	1. SAS Delivery UNIT
	C181486		1. CAN Line
34	C240162	Motor circuit error	1. Motor location sensor
			2. Motor connector
35	C241216	Motor short/break	1. Motor
	C241262		2. Motor connector
36	C186687	ICSC CAN Not received	1. ICSC (Integrated controller)
37	C166B87	Wheel speed sensor signal Not received	1. Wheel speed sensor
			2. CAN Line
38	C16B286	Wheel speed sensor signal error	1. Wheel speed sensor
			2. CAN Line
39	C16BF64	Wheel speed sensor monitoring error	1. Wheel speed sensor
			2. CAN Line
40	C241319	Motor current error	1. Motor current sensor
	C241328
	C241396

Checking Connectors and Wiring

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.

Classification	Pin no	Pin name
MDPS Power	1	Battery (-)
MDPS Power	2	Battery (+)
MDPS Unit	1	-
	2	-
	3	IG 1
	4	C-CAN [High]
	5	C-CAN [Low]
	6	-

The following phenomena are not malfunctions when the MDPS warning lamp is not lit.

•	There is no auxiliary steering force temporarily during the MDPS system self-diagnosis time (about 2 seconds) immediately after the engine starts, but this is not a malfunction.

•	There is noise due to relay connection when the engine is on or off, but this is a normal operation sound.

•	There is noise caused by motor rotation when operating the steering wheel in a stationary or low-speed driving state, but this is a normal operating sound.

MDPS(Motor Driven Power Steering) Handling precautions

1.	A failure may occur due to the internal damage when a new partial part is dropped, impacted or excessive external load is applied. → If a partial part is impacted or is dropped, replace it with a new part.

2.	If excessive impact is applied when assembling the steering wheel, center point of the torque sensor may be warped. → Caution is needed when tightening by excessive impact.

3.	Be careful for the damage to the wiring due to deformation, when detaching/attaching the contactor or excessive external force is applied. → Excessive insertion of the connector or using after removal is prohibited.

4.	Caution is needed for partial part storage and replacement work under abnormal condition of the temperature and humidity.

MDPS PowerPack Assembly. Repair procedures

Replacement

1.	Turn the ignition switch OFF and disconnect the battery negative (-) cable.

2.	Turn the steering wheel so that the front wheels are placed in the straight ahead position.

3.	Remove the steering column shroud lower panel. (Refer to Body - "Steering Column Shroud lower Panel")

4.	Remove the crash pad lower pannel. (Refer to Body - "Crash Pad Lower Pannel")

Disconnect the MDPS connector (A).

•	When connecting the connector, be careful not to bend the pins and insert foreign objects.

6.	Remove the fixed clip (A) and then remove the wiring from the steering column.

7.	Remove the stop lamp switch. (Refer to Brake System - "Stop Lamp Switch")

Loosen the mounting nut (A) and bolt (B) and leave the steering column and EPS unit assembly lie on the vehicle's floor.

Tightening torque

(A) : 25.0 - 29.4 N.m (2.5 - 3.0 kgf.m, 14.5 - 21.7 lb-ft)

(B) : 53.9 - 58.8 N.m (5.5 - 6.0 kgf.m, 39.8 - 43.4 lb-ft)

9.	Remove the MDPS motor (A) after loosening the bolts.

10.

Check the axial damper (A) whether it is assembled, before installing the new MDPS motor.

•

Check the axial damper (A) whether it is assembled, before installing the new MDPS motor.

Before assembly	After assembly

11.	Install in the reverser order of removal.

12.	Conduct the "EPS Type Recognition" by diagnostic tool. (Refer to MDPS motor - "Diagnosis with diagnostic tool")

13.	Conduct the "ASP Calibration" by diagnostic tool. (Refer to MDPS motor - "Diagnosis with diagnostic tool")

14.	Check the DTC.

15.	Turn off the IGN switch and wait for 20 seconds or more. Then check the operation after starting the engine.

Diagnosis with diagnostic tool

EPS Type Recognition

•	When missing the EPS Type Recognition, occure a problem with motor driven power steering performance.

EPS Type Recognition procedures

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.	Turn the steering wheel to straight ahead position.

4.	After Selecting the "vehicle model" and "system", select the "EPS Type Recognition" on diagnostic tool vehicle selection screen.

5.	Remove the DTC.

Turn off the IG switch and wait for 20 seconds or more before starting the engine. And then make sure that MDPS works properly.

SAS Calibration

–	Steering-angle sensor detects the steering angle and steering angle speed. Steering angle and steering angle speed are used for steering wheel damping and return controls in addition to providing assistance torque.

•	You can use a scan tool to (diagnostic tool) check if the battery voltage is proper before perform the "SAS Calibration".

•	Make sure that no connector engaged to the vehicle or scan tool is disconnected during the "SAS Calibration".

•	Once the "SAS Calibration" is complete, turn off the IG switch and wait for 10 seconds or more before starting the engine to check the operation.

SAS Calibration procedures

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.	Turn the steering wheel to straight ahead position.

4.	After Selecting the "vehicle model" and "system", select the "SAS Calibration" on diagnostic tool vehicle selection screen.

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.

Steering Column and Shaft. Repair procedures

Removal

[C-MDPS]

1.	Turn the ignition switch OFF and disconnect the battery negative (-) cable.

2.	Turn the steering wheel so that the front wheels are placed in the straight ahead position.

3.	Remove the driver airbag module. (Refer to Restraint - "Driver Airbag (DAB) Module and Clock Spring")

4.	Remove the steering wheel. (Referto Steering System - "Steering Wheel")

5.	Remove the clock spring. (Refer to Restraint - "Driver Airbag (DAB) Module and Clock Spring")

6.	Remove the multifunction switch. (Refer to Body Electrical System - "Multifunction switch")

7.	Remove the steering column shroud lower panel (Refer to Body - "Steering Column Shroud lower Panel")

8.	Remove the crash pad lower pannel. (Refer to Body - "Crash Pad Lower Pannel")

Disconnect the MDPS connector (A).

•	When connecting the connector, be careful not to bend the pins and insert foreign objects.

10.	Remove the fixed clip (A) and then remove the wiring from the steering column.

11.

Loosen the bolt (A) and then disconnect the universal joint assembly from the pinion of the steering gear box.

Tightening torque :

M8 BOLT : 32.4 - 37.3 N.m (3.3 - 3.8 kgf.m, 23.9 - 27.5 lb-ft)

M10 BOLT : 49.0 - 58.8 N.m (5.0 - 6.0 kgf.m, 36.2 - 43.4 lb-ft)

•	Do not reuse the bolt.

•	Lock the steering wheel in the straight ahead position to prevent the damage of the clock spring inner cable.

•	Assemble so that the universal joint hole is inserted matching the cut surface of the pinion shaft.

12.	Remove the stop lamp switch. (Refer to Brake System - "Stop Lamp Switch")

13.

Remove the MDPS assembly by loosening the mounting nuts (A) and bolt (B).

Tightening torque

(A) : 25.0 - 29.4 N.m (2.5 - 3.0 kgf.m, 14.5 - 21.7 lb-ft)

(B) : 53.9 - 58.8 N.m (5.5 - 6.0 kgf.m, 39.8 - 43.4 lb-ft)

14.	Install in the reverser order of removal.

15.	Conduct the "EPS Type Recognition" by diagnostic tool. (Refer to MDPS motor - "Diagnosis with diagnostic tool")

16.	Conduct the "ASP Calibration" by diagnostic tool. (Refer to MDPS motor - "Diagnosis with diagnostic tool")

[R-MDPS]

1.	Turn the steering wheel so that the front wheels are placed in the straight ahead position.

2.	Turn the ignition switch OFF and disconnect the battery negative (-) cable.

3.	Remove the driver airbag module. (Refer to Restraint - "Driver Airbag (DAB) Module and Clock Spring")

4.	Remove the steering wheel. (Referto Steering System - "Steering Wheel")

5.	Remove the clock spring. (Refer to Restraint - "Driver Airbag (DAB) Module and Clock Spring")

6.	Remove the multifunction switch. (Refer to Body Electrical System - "Multifunction switch")

7.	Remove the steering column shroud lower panel (Refer to Body - "Steering Column Shroud lower Panel")

8.	Remove the crash pad lower pannel. (Refer to Body - "Crash Pad Lower Pannel")

9.	Remove the fixing clip (A) from the steering column.

10.

Loosen the bolt (A) and then disconnect the universal joint assembly from the pinion of the steering gear box.

Tightening torque :

32.4 - 37.3 N.m (3.3 - 3.8 kgf.m, 23.9 - 27.5 lb-ft)

•	Do not reuse the bolt.

•	Lock the steering wheel in the straight ahead position to prevent the damage of the clock spring inner cable.

•	Assemble so that the universal joint hole is inserted matching the cut surface of the pinion shaft.

11.	Remove the stop lamp switch. (Refer to Brake System - "Stop Lamp Switch")

12.

Remove the MDPS assembly by loosening the mounting nuts (A) and bolt (B).

Tightening torque

(A) : 25.0 - 29.4 N.m (2.5 - 3.0 kgf.m, 14.5 - 21.7 lb-ft)

(B) : 53.9 - 58.8 N.m (5.5 - 6.0 kgf.m, 39.8 - 43.4 lb-ft)

Disassembly

Loosen the bolt (A) and then disconnect the universal joint assembly from the steering column assembly.

Tightening torque :

49.0 - 58.8 N.m (5.0 - 6.0 kgf.m, 39.8 - 43.4 lb-ft)

•	Do not reuse the universal joint bolt.

Reassembly is the reverse of the disassembly.

•	When assembling, match the gear teeth as the below illustration.

Inspection

1.	Check the steering column for damage and deformation.

2.	Check the steering column for damage and deformation.

3.	Check the join bearing for damage and wear.

4.	Check the tilt bracket for damage and cracks.

5.	Check the key lock assembly for proper operation and replace it if necessary.

Diagnosis with diagnostic tool

EPS Type Recognition

•	When missing the EPS Type Recognition, occure a problem with motor driven power steering performance.

EPS Type Recognition procedures

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.	Turn the steering wheel to straight ahead position.

4.	After Selecting the "vehicle model" and "system", select the "EPS Type Recognition" on diagnostic tool vehicle selection screen.

5.	Remove the DTC.

Turn off the IG switch and wait for 20 seconds or more before starting the engine. And then make sure that MDPS works properly.

SAS Calibration

–	Steering-angle sensor detects the steering angle and steering angle speed. Steering angle and steering angle speed are used for steering wheel damping and return controls in addition to providing assistance torque.

•	You can use a scan tool to (diagnostic tool) check if the battery voltage is proper before perform the "SAS Calibration".

•	Make sure that no connector engaged to the vehicle or scan tool is disconnected during the "SAS Calibration".

•	Once the "SAS Calibration" is complete, turn off the IG switch and wait for 10 seconds or more before starting the engine to check the operation.

SAS Calibration procedures

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.	Turn the steering wheel to straight ahead position.

4.	After Selecting the "vehicle model" and "system", select the "SAS Calibration" on diagnostic tool vehicle selection screen.

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.

Installation

1.	To install, reverse the removal procedures.

2.	Check the alignment. (Refer to Suspension System - "Alingment")

Steering Gear Box. Components and components location

Components

[R-MDPS]

1. Tie rod end
2. Lead wire

3. Short gear
4. Power pack

[C-MDPS]

1. Steering gera box

2 Tie rod end

Steering Gear Box. Repair procedures

Removal and installation

•	Be careful not to damage the parts located under the vehicle (floor under cover, fuel filter, fuel tank and canister) when raising the vehicle using the lift. (Refer to General Information - "Lift and Support Points")

•	Before replacing the R-MDPS, use the diagnostic device to read the settings of the old ECU [R-MDPS Only]

Perform the "ECU data backup" by diagnostic tool 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 "MDPS system" on diagnostic tool vehicle selection screen.

(4)	Select the "MDPS Tuning Data Setting(Backup and Write)"

(5)	Follow the instructions shown on the screen.

2.	Loosen the wheel nuts slightly. Raise the vehicle, and make sure it is securely supported.

Remove the front wheel and tire (A) from the front hub.

Tightening torque :

107.9 - 127.5 N.m (11.0 - 13.0 kgf.m, 79.6 - 94.0 lb-ft)

•	Be careful not to damage the hub bolts when removing the front wheel and tire (A).

Disconnect the stabilizer link with the front strut assembly after loosening the nut (A).

Tightening torque :

98.1 - 117.7 N.m (10.0 - 12.0 kgf.m, 72.3 - 86.8 lb-ft)

•	When loosening the nut, fix the outer hexagon of stabilizer bar link.

•	Be careful not to damage the stabilizer link boots.

Remove the split pin and lock nut (A).

Tightening torque:

98.0 - 117.6 N.m (10.0 - 12.0 kgf.m, 72.3 - 86.7 lb-ft)

•	Do not resuse lock nut.

6.	Remove the tie rod end ball joint (A) using the SST (09568-2J100).

Remove the split pin and nut (A).

Tightening torque:

98.0 - 117.6 N.m (10.0 - 12.0 kgf.m, 72.3 - 86.7 lb-ft)

Remove the lower arm from the knuckle by using the SST (09568-4R100).

(1)	Install the support bolt (A) from lower arm bolt hole.

(2)	Install the support body (B) from front axle.

(3)	Tighten the bolt (C).

Loosen the bolt (A) and then disconnect the universal joint assembly from the pinion of the steering gear box.

Tightening torque :

M8 BOLT : 32.4 - 37.3 N.m (3.3 - 3.8 kgf.m, 23.9 - 27.5 lb-ft)

M10 BOLT : 49.0 - 58.8 N.m (5.0 - 6.0 kgf.m, 36.2 - 43.4 lb-ft)

•	Do not reuse the bolt.

•	Lock the steering wheel in the straight ahead position to prevent the damage of the clock spring inner cable.

•	Assemble so that the universal joint hole is inserted matching the cut surface of the pinion shaft.

10.	Remove the under cover. (Refer to Engine Mechanical System - "Engine Room Under Cover")

11.	Disconnect the R-MDPS main connector (A). [R-MDPS Type only]

12.

Remove the muffler rubber hanger (A) from the sub frame after loosening the mounting bolt.

Tightening torque :

19.6 - 25.5 N.m (2.0 - 2.6 kgf.m, 14.5 - 18.8 lb-ft)

13.

Remove the roll rod bracket (C) by loosening the bolt (A), (B).

Tightening torque

(A) : 107.9 - 127.5 N.m (11.0 - 13.0 kgf.m, 79.6 - 94.0 lb-ft)

(B) : 49.0 - 63.7 N.m (5.0 - 6.5 kgf.m, 36.2 - 47.0 lb-ft

•	Set a transmission jack for safety.

14.

Remove the sub frame stay after loosening the mounting bolts (A, B) and nut (C).

Tightening torque

(A) : 176.5 - 196.1 N.m (18.0 - 20.0 kgf.m, 130.2 - 144.7 b-ft)

(B) : 44.1 - 53.9 N.m (4.5 - 5.5 kgf.m, 32.5 - 39.8 lb-ft)

15.

Loosen the sub frame mounting nuts (A).

Tightening torque

176.5 - 196.1 N.m (18.0 - 20.0 kgf.m, 130.2 - 144.7 b-ft)

16.	Remove the sub frame.

17.

Remove the heat protector (A).

Tightening torque :

6.9 - 10.8 N.m (0.7 - 1.1 kgf.m, 5.1 - 8.0 lb-ft)

[R-MDPS]

[C-MDPS]

18.

Remove the steering gearbox (A) from the front sub frame by loosening the mounting bolts.

Tightening torque :

107.9 - 127.5 N.m (11.0 - 13.0 kgf.m, 79.6 - 94.0 lb-ft)

[R-MDPS]

[C-MDPS]

19.	To install, reverse the removal procedures.

20.	Check the alignment. (Refer to Suspension System - "Alingment")

21.	Conduct the "EPS Type Recognition" by diagnostic tool. (Refer to MDPS motor - "Diagnosis with diagnostic tool")

22.

Perform the "ECU data restore" by diagnostic tool following in the order below. [R-MDPS Only]

(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 "MDPS system" on diagnostic tool vehicle selection screen.

(4)	Select the "MDPS Tuning Data Setting(Backup and Write)"

(5)	Follow the instructions shown on the screen.

Replacement

•	Do not disassembly the steering gear box.

•	If disassembly the steering gear box, the quality(Noise / cleanliness / functions) is not guaranteed. [C-MDPS] [R-MDPS]

Tie rod end

Remove the tie rod end after loosening the nut.

Tightening torque :

49.0 - 53.9 N.m (5.0 - 5.5 kgf.m, 36.2 - 39.8 lb-ft)

•	Before removing the tie rod end, note by measuring the length of the thread or marked with paint.

2.	Replace with new parts.

3.	Check the alignment. (Refer to Tires / Wheels - "Alignment")

Power Pack And Short Gear

1.	Disconnect the power pack connector (A).

Replace the power pack (A) after loosening the mounting bolts.

Tightening torque :

19.6 - 23.5 N.m (2.0 - 2.4 kgf.m, 14.5 - 17.4 lb-ft)

In case of the power pack replacement, replace the power pack only and reuse the existing short gear.

In case of the short gear replacement, replace the short gear only and reuse the existing power pack.

•	For assembly, the new product is basically coated with grease for workability.

•	When installing the power pack on the MDPS, install it in the following direction.

•	Be sure to check whether the coupling (A) is assembled. (If it cannot be used due to the existing coupling deformation/breakage, request for new A/S and assemble.)

4.	After replacing the power pack motor, "Steering Angle Sensor (SAS) Calibration" and "MDPS Turning Data Setting (Backup and Write)" and "Set the steering feel torque to zero" must be done

Lead Wire

1.	Replace the lead wire (B) after disconnecting the power connector (A).

MDPS Type Recognition procedures

1.	Connect the diagnostic tool diagnostic tool to the vehicle's self-diagnostic connector.

2.	Key on the Ignition switch.

3.	After Selecting the "vehicle model" and "system", select the "EPS Type Recognition" on diagnostic tool vehicle selection screen. [MDPS Type Recognition] [MDPS Type Recognition 1]

Steering wheel

Components and components location Components 1. Lower cover 2. Switch bezel 3. Remote control switch 4. Paddle shift 5. Damper 6. Steering Wheel 7. Wiring 8. Drive airbag module (DAB) Repair procedures ...

Restraint

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