• Both “VDC” and “ESP” are used in this manual. These indicate the same system.
• In this manual, “Idling Stop System” is referred to as “Stop / Start System”.

STC-4

< PRECAUTION >

PRECAUTIONS

PRECAUTION

PRECAUTIONS

Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT
PRE-TENSIONER"

INFOID:0000000010452181

The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. Information necessary to service the system safely is included in the “SRS AIR BAG” and
“SEAT BELT” of this Service Manual.

WARNING:

Always observe the following items for preventing accidental activation.
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in

the event of a collision that would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.

• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal

injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see “SRS AIR BAG”.

• Never use electrical test equipment on any circuit related to the SRS unless instructed to in this Ser-

vice Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or harness
connectors.

PRECAUTIONS WHEN USING POWER TOOLS (AIR OR ELECTRIC) AND HAMMERS

WARNING:

Always observe the following items for preventing accidental activation.
• When working near the Air Bag Diagnosis Sensor Unit or other Air Bag System sensors with the

ignition ON or engine running, never use air or electric power tools or strike near the sensor(s) with
a hammer. Heavy vibration could activate the sensor(s) and deploy the air bag(s), possibly causing
serious injury.

• When using air or electric power tools or hammers, always switch the ignition OFF, disconnect the

battery, and wait at least 3 minutes before performing any service.

Precaution Necessary for Steering Wheel Rotation After Battery Disconnect

INFOID:0000000010495410

CAUTION:

Comply with the following cautions to prevent any error and malfunction.
• Before removing and installing any control units, first turn the ignition power source and accessory

power source to the OFF, then disconnect both battery cables.

• After finishing work, confirm that all control unit connectors are connected properly, then re-connect

both battery cables.

• Always use CONSULT to perform self-diagnosis as a part of each function inspection after finishing

work. If a DTC is detected, perform trouble diagnosis according to self-diagnosis results.

For vehicle with steering lock unit, if the battery is disconnected or discharged, the steering wheel will lock and
cannot be turned.
If turning the steering wheel is required with the battery disconnected or discharged, follow the operation pro-
cedure below before starting the repair operation.

OPERATION PROCEDURE

Connect both battery cables.
NOTE:
Supply power using jumper cables if battery is discharged.

Open driver door.

Turn the ignition switch to the ON position.
(At this time, the steering lock will be released.)

Turn the ignition switch to OFF position with driver door open.

Wait for 3 minutes or longer with driver door open.
NOTE:
• Do not close driver door because the steering wheel locks when driver door is closed.

PRECAUTIONS

STC-5

< PRECAUTION >

STC

• The auto acc function is adapted to this vehicle. For this reason, even when the ignition switch is turned

to OFF position, the accessory power source does not turned OFF and continues to be supplied for a
certain amount of time.

Disconnect both battery cables. The steering lock will remain released with both battery cables discon-
nected and the steering wheel can be turned.

Perform the necessary repair operation.

When the repair work is completed, re-connect both battery cables. With the brake pedal released, turn
the ignition switch from OFF position to ON position, then to LOCK position. (The steering wheel will lock
when the ignition switch is turned to LOCK position.)

Perform self-diagnosis check of all control units using CONSULT.

Precautions for Removing Battery Terminal

INFOID:0000000010503405

• With the adoption of Auto ACC function, ACC power is automatically supplied by operating the intelligent key

or remote keyless entry or by opening/closing the driver side door. In addition, ACC power is supplied even
after the ignition switch is turned to the OFF position, i.e. ACC power is supplied for a certain fixed time.

• When disconnecting the 12V battery terminal, turn off the ACC

power before disconnecting the 12V battery terminal, observing
“How to disconnect 12V battery terminal” described below.
NOTE:
Some ECUs operate for a certain fixed time even after ignition
switch is turned OFF and ignition power supply is stopped. If the
battery terminal is disconnected before ECU stops, accidental DTC
detection or ECU data damage may occur.

• For vehicles with the 2-batteries, be sure to connect the main bat-

tery and the sub battery before turning ON the ignition switch.
NOTE:
If the ignition switch is turned ON with any one of the terminals of
main battery and sub battery disconnected, then DTC may be detected.

• After installing the 12V battery, always check "Self Diagnosis Result" of all ECUs and erase DTC.

NOTE:
The removal of 12V battery may cause a DTC detection error.

HOW TO DISCONNECT 12V BATTERY TERMINAL

Disconnect 12V battery terminal according to instruction described below.
1.

Open the hood.

Turn ignition switch to the ON position.

Turn ignition switch to the OFF position with the driver side door opened.

Get out of the vehicle and close the driver side door.

Wait at least 3 minutes. For vehicle with the engine listed below, remove the battery terminal after a lapse
of the specified time.

CAUTION:

While waiting, never operate the vehicle such as locking, opening, and closing doors. Violation of
this caution results in the activation of ACC power supply according to the Auto ACC function.

Remove 12V battery terminal.

CAUTION:

After installing 12V battery, always check self-diagnosis results of all ECUs and erase DTC.

Precaution for Stop/Start System Service

INFOID:0000000010452184

CAUTION:

When performing an inspection and its related work with the engine at idle, always open the hood and
release the stop/start system.

SEF289H

D4D engine

: 20 minutes

HRA2DDT

: 12 minutes

K9K engine

: 4 minutes

M9R engine

: 4 minutes

R9M engine

: 4 minutes

V9X engine

: 4 minutes

STC-6

< PRECAUTION >

PRECAUTIONS

Service Notice and Precautions for EPS System

INFOID:0000000010452185

• Check the following item when performing the trouble diagnosis.
- Check any possible causes by interviewing the symptom and it

′

s condition from the customer if any malfunc-

tion, such as power steering warning lamp is turned ON, occurs.

- Check if air pressure and size of tires are proper, the specified part is used for the steering wheel, and con-

trol unit is genuine part.

- Check if the connection of steering column assembly and steering gear assembly is proper (there is not

looseness of mounting bolts, damage of rods, boots or sealants, and leakage of grease, etc.).

- Check if the wheel alignment is adjusted properly.
- Check if there is any damage or modification to suspension or body resulting in increased weight or altered

ground clearance.

- Check if installation conditions of each link and suspension are proper.
- Check if the battery voltage is proper.
- Check connection conditions of each connector are proper.
- Before connecting or disconnecting the EPS control unit harness

connector, turn ignition switch “OFF” and disconnect battery
ground cable. Because battery voltage is applied to EPS control
unit even if ignition switch is turned “OFF”.

- When connecting or disconnecting pin connectors into or from

EPS control unit, take care not to damage pin terminals (bend or
break).

- When connecting pin connectors, make sure that there are no

bends or breaks on EPS control unit pin terminal.

• During quick steering, rasping noise may be heard from around the

steering wheel. This is not a malfunction. The noise is an operating
noise of the EPS system under normal conditions. If the rasping
noise occurs during slow steering, this may not be an operating
noise of the system. In this case, it is necessary to find out the
location of the noise and repair, if necessary.

SEF289H

SEF291H

COMPONENT PARTS

STC-7

< SYSTEM DESCRIPTION >

STC

SYSTEM DESCRIPTION

COMPONENT PARTS

Component Parts Location

INFOID:0000000010452096

LHD MODELS

Steering column assembly

No.

Component

Function

Around view monitor control unit

• Transmits mainly the following signals to EPS control unit via CAN communica-

tion.

- Intelligent parking assist status signal
- Current command signal
• Refer to

AV-131, "Component Parts Location"

for detailed installation location.

ABS actuator and electric unit (control unit)

• Transmits mainly the following signal to EPS control unit via CAN communica-

tion.

- Vehicle speed signal
• Refer to

BRC-9, "Component Parts Location"

for detailed installation location.

JMGIA0186ZZ

STC-8

< SYSTEM DESCRIPTION >

COMPONENT PARTS

RHD MODELS

ECM

• Transmits mainly the following signals to EPS control unit via CAN communica-

tion.

- Engine status signal
- Stop/start status signal
• Receives mainly the following signal to EPS control unit via CAN communica-

tion.

- EPS torque signal
• Refer to

ECH-13, "Component Parts Location"

(HRA2DDT),

ECM-25, "EN-

GINE CONTROL SYSTEM : Component Parts Location"

, (MR16DDT),

ECM-

629, "ENGINE CONTROL SYSTEM : Component Parts Location"

(MR20DD),

ECK-12, "Component Parts Location"

(K9K) or

EC9-14, "Component Parts Lo-

cation"

(R9M) for detailed installation location.

Combination meter

• Transmits mainly the following signal to EPS control unit via CAN communica-

tion.

- Vehicle speed signal
• Receives mainly the following signal to EPS control unit via CAN communica-

tion.

- Power steering warning lamp signal

EPS control unit

STC-9, "EPS Control Unit"

EPS motor

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Torque sensor

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Reduction gear

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

No.

Component

Function

Steering column assembly

JMGIA0187ZZ

COMPONENT PARTS

STC-9

< SYSTEM DESCRIPTION >

STC

EPS Control Unit

INFOID:0000000010452098

NOTE:
The EPC control unit, EPS motor, torque sensor, and reduction gear
are integrated with the steering column ASSY.
• EPS control unit

performs an arithmetical operation on data,

such as steering wheel turning force (sensor signal) from the
torque sensor, vehicle speed signal, etc. Then it generates an opti-
mum assist torque signal to the EPS motor according to the driving
condition.

• When the power steering function is used continuously for an

extended period of time, such as when steering wheel is turned
while the vehicle is stopped, output is reduced to the EPS motor in
order to protect EPS motor and EPS control unit. At this time, the
assist torque gradually decreases and more force is required to
operate the steering wheel. However the normal assist torque returns after steering operation is discontin-
ued for a period of time.

• If there is a malfunction in the electrical system, the fail-safe function activates and turns OFF the output sig-

nal to the EPS motor, resulting in manual steering conditions. At this time, the power steering warning lamp
illuminates to notify the driver of the system malfunction.

• When the stop/start system operation starts, the EPS control unit receives a stop/start status signal from

ECM via CAN communication and disables the assist control.

• When the driver turns the steering wheel (torque application exceeding the specified torque) during stop/

start system operation, the EPS control unit transmits an EPS torque signal to ECM via CAN communication
and restarts the engine (disables stop/start system).

No.

Component

Function

Combination meter

• Transmits mainly the following signal to EPS control unit via CAN communica-

tion.

- Vehicle speed signal
• Receives mainly the following signal to EPS control unit via CAN communica-

tion.

- Power steering warning lamp signal

ECM

• Transmits mainly the following signals to EPS control unit via CAN communica-

tion.

- Engine status signal
- Stop/start status signal
• Receives mainly the following signal to EPS control unit via CAN communica-

tion.

- EPS torque signal
• Refer to

ECH-13, "Component Parts Location"

(HRA2DDT),

ECM-25, "EN-

GINE CONTROL SYSTEM : Component Parts Location"

, (MR16DDT),

ECM-

629, "ENGINE CONTROL SYSTEM : Component Parts Location"

(MR20DD),

ECK-12, "Component Parts Location"

(K9K) or

EC9-14, "Component Parts Lo-

cation"

(R9M) for detailed installation location.

ABS actuator and electric unit (control unit)

• Transmits mainly the following signal to EPS control unit via CAN communica-

tion.

- Vehicle speed signal
• Refer to

BRC-9, "Component Parts Location"

for detailed installation location.

Around view monitor control unit

• Transmits mainly the following signals to EPS control unit via CAN communica-

tion.

- Intelligent parking assist status signal
- Current command signal
• Refer to

AV-131, "Component Parts Location"

for detailed installation location.

EPS control unit

STC-9, "EPS Control Unit"

EPS motor

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Torque sensor

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

Reduction gear

STC-10, "EPS Motor, Torque Sensor, Reduction Gear"

JSGIA1430ZZ

STC-10

< SYSTEM DESCRIPTION >

COMPONENT PARTS

• The intelligent parking assist status signal and current command signal are received from around view mon-

itor control unit via CAN communication for Intelligent Parking Assist control.

• The EPS control unit sends the Intelligent Parking Assist status signal to the around view monitor control unit

to indicate whether or not Intelligent Parking Assist control is possible.

• When the driver turns the steering wheel during Intelligent Parking Assist control, Intelligent Parking Assist

control is canceled.

• This enables diagnosis using CONSULT.

EPS Motor, Torque Sensor, Reduction Gear

INFOID:0000000010452099

NOTE:
The EPC control unit, EPS motor, torque sensor, and reduction gear are integrated with the steering column
ASSY.
EPS motor

, torque sensor

and reduction gear

are installed

to steering column assembly.

EPS MOTOR

EPS motor provides the assist torque by the control signal from EPS control unit.

TORQUE SENSOR

Torque sensor detects the steering torque, and transmit the signal to EPS control unit.

REDUCTION GEAR

Reduction gear increases the assist torque provided from EPS motor with worm gears, and outputs to the col-
umn shaft.

JSGIA1431ZZ

SYSTEM

STC-11

< SYSTEM DESCRIPTION >

STC

SYSTEM

EPS SYSTEM

EPS SYSTEM : System Description

INFOID:0000000010452102

SYSTEM DIAGRAM

INPUT/OUTPUT SIGNAL

Communicates the signal from each control unit via CAN communication.

DESCRIPTION

JMGIA0188GB

Control unit

Signal status

ECM

• Transmits mainly the following signals to EPS control unit via CAN communication.
- Engine status signal
- Stop/start status signal
• Receives mainly the following signal to EPS control unit via CAN communication.
- EPS torque signal

ABS actuator and electric unit (con-
trol unit)

• Transmits mainly the following signal to EPS control unit via CAN communication.
- Vehicle speed signal

Combination meter

• Transmits mainly the following signal to EPS control unit via CAN communication.
- Vehicle speed signal
• Receives mainly the following signal to EPS control unit via CAN communication.
- Power steering warning lamp signal

Around view monitor control unit

• Transmits mainly the following signals to EPS control unit via CAN communication.
- Intelligent parking assist status signal
- Current command signal

STC-12

< SYSTEM DESCRIPTION >

SYSTEM

• EPS control unit performs an arithmetical operation on data, such

as steering wheel turning force (sensor signal) from the torque
sensor, vehicle speed signal, etc. Then it generates an optimum
assist torque signal to the EPS motor according to the driving con-
dition.

• In case of an error in the electrical system, the fail-safe function

stops output signals to the EPS motor. Refer to

STC-12, "EPS

SYSTEM : Fail-safe"

• EPS control unit decreases the output signal to EPS motor while

extremely using the power steering function (e.g., full steering)
consecutively for protecting EPS motor and EPS control unit
(Overload protection control). Refer to

STC-13, "EPS SYSTEM :

Protection Function"

• Extensive steering at low speed will cause the ECU and MOTOR

to heat up, once temperature reaches critical point ECU will reduce
current to reduce heat up. System will recover as temperature low-
ers (reduced or no assistance).

• When the driver turns the steering wheel (torque application

exceeding the specified torque) during stop/start, the EPS control
unit restarts the engine (disables stop/start system) and immedi-
ately brings the assist control in its ready-to-start state.

• If EPS becomes out of order, the power steering warning lamp

blinks and the Stop/Start System brings about such conditions as
follows:

- Stop/start mode is not enabled under non stop/start state.
- The engine is restarted during stop/start, regardless of steering wheel operation.
• The Intelligent Parking Assist function provides support for garage parking and parallel parking, and auto-

matically operates the steering wheel when the system is active.

POWER STEERING WARNING LAMP INDICATION

• This light illuminates when the fail-safe function is activated, notifying the driver that there is a malfunction in

the system and that steering state is manual (more force is required to turn the steering wheel).

• Also turns ON when ignition switch is turned ON, for purpose of lamp check. Turns OFF after the engine

starts, if system is normal.

NOTE:
Power steering warning lamp also turns ON due to data reception error, CAN communication error etc.

EPS SYSTEM : Fail-safe

INFOID:0000000010470621

• If any malfunction occurs in the system and control unit detects the malfunction, power steering warning

lamp on combination meter turns ON to indicate system malfunction.

• When power steering warning lamp is ON, the system enters into a manual steering state. (Control turning

force steering wheel becomes heavy.)

JMGIA0185GB

Condition

Power steering warning lamp

Ignition switch ON. (Lamp check)

Engine running.

OFF

EPS system malfunction [Other diagnostic item]

DTC

Fail-safe condition

C1601

The assist force is reduced according to the voltage, eventually ending with manual steering state

C1604

Manual steering state

C1606

C1607

C1608

C1609

Non-speed sensitive steering assist

SYSTEM

STC-13

< SYSTEM DESCRIPTION >

STC

EPS SYSTEM : Protection Function

INFOID:0000000010470622

EPS control unit decreases the output signal to EPS motor while extremely using the power steering function
(e.g., full steering) consecutively for protecting EPS motor and EPS control unit (Overload protection control).
While activating overload protection control, the assist torque gradually decreases, and the steering wheel
turning force becomes heavy. The normal assist torque reactivates by no steering.

U1000

• Non-speed sensitive steering assist
• Intelligent Parking Assist function (controlled from around view monitor) or Stop/Start system function (controlled

from ECM) is stopped

U1010

Normal control

U1970

Intelligent Parking Assist function (controlled from around view monitor) is stopped

DTC

Fail-safe condition

STC-14

< SYSTEM DESCRIPTION >

DIAGNOSIS SYSTEM (EPS CONTROL UNIT)

DIAGNOSIS SYSTEM (EPS CONTROL UNIT)

CONSULT Function

INFOID:0000000010452105

FUNCTION

CONSULT can display each diagnostic item using the diagnostic test modes shown following.

*: The following diagnosis information is erased by erasing.
• DTC
• Freeze frame data (FFD)

ECU IDENTIFICATION

Displays the part number stored in the control unit.

SELF-DIAG RESULTS MODE

Refer to

STC-19, "DTC Index"

When “CRNT” is displayed on self-diagnosis result.

• The system is presently malfunctioning.

When “PAST” is displayed on self-diagnosis result.

• System malfunction in the past is detected, but the system is presently normal.

FREEZE FRAME DATA (FFD)

The following vehicle status is recorded when DTC is detected and is displayed on CONSULT.

DATA MONITOR MODE

NOTE:
The following table includes information (items) inapplicable to this vehicle. For information (items) applicable
to this vehicle, refer to CONSULT display items.

Diagnostic test mode

Function

ECU identification

The part number stored in the control unit can be read.

Self diagnostic result

Self-diagnostic results and freeze frame data can be read and erased quickly.

Data monitor

Input/Output data in the EPS control unit can be read.

Item name

Display item

IGN COUNTER
(0 – 39)

The number of times that ignition switch is turned ON after the DTC is detected is displayed.
• When “0” is displayed: It indicates that the system is presently malfunctioning.
• When except “0” is displayed: It indicates that system malfunction in the past is detected, but the system is pres-

ently normal.
NOTE:
Each time when ignition switch is turned OFF to ON, numerical number increases in 1

→

3...38

→

39.

When the operation number of times exceeds 39, the number do not increase and “39” is displayed until self-
diagnosis is erased.

Monitor item (Unit)

Remarks

BATTERY VOLT (V)

Displays the power supply voltage for EPS control unit.

TORQUE SENSOR (Nm)

Displays steering wheel turning force detected by torque sensor.

MOTOR CURRENT (A)

Displays the current value consumed by EPS motor.

MOTOR SIG (A)

Displays the current commanded value to EPS motor.

ASSIST TORQUE (Nm)

Displays assist torque being output by the electric power steering.

C/U TEMP [

C (

F)]

Displays the temperature of the EPS control unit.

ASSIST LEVEL (%)

Normally displays 100%. In case of an excessive stationary steering, the assist

curvature gradually falls. However, it return to 100% when left standing.

VEHICLE SPEED [km/h (MPH)]

Vehicle speed is displayed from vehicle speed signal via CAN communication.

WARNING LAMP (On/Off)

Power steering warning lamp control status is displayed.

ENGINE STATUS (Stop/Run)

Engine speed is displayed from engine status signal via CAN communication.

DIAGNOSIS SYSTEM (EPS CONTROL UNIT)

STC-15

< SYSTEM DESCRIPTION >

STC

*1: Almost in accordance with the value of “MOTOR SIG”. It is not a malfunction though these values are not
accorded when steering quickly.
*2: Normally displays 100%. In case of an excessive stationary steering, the assist curvature gradually falls.
However, it returns to 100% when left standing.
*3: It is not a malfunction, though it might not be corresponding just after ignition switch in turned ON.

ST TORQUE STATUS (On/Off)

Displays steering status.

EPS ASSIST PERMIS (On/Off)

Displays assist permission status of EPS system.

STOP/START STATUS (INACT/AUTO ST/ACT/
CANCEL)

Displays stop/start status.

IPA ON (Off 1/Off 2/Off 3/On)

Displays Intelligent Parking Assist status.

IPA STATUS 1 (On/Off)

Displays operating status of Intelligent Parking Assist

STOP/START SYSTEM (On/Off)

Displays permission status of stop/start system.

IPA STATUS 2 (Off/On 1/On 2)

Displays operating status of Intelligent Parking Assist.

IPA STATUS 3 (NORMAL/MALF)

Displays Intelligent Parking Assist status.

IPA TARGET CURRENT (A)

Displays the command current value from Intelligent Parking Assist.

EPS CONTROL CURRENT (A)

Displays motor current value.

Monitor item (Unit)

Remarks

STC-16

< ECU DIAGNOSIS INFORMATION >

EPS CONTROL UNIT

ECU DIAGNOSIS INFORMATION

EPS CONTROL UNIT

Reference Value

INFOID:0000000010452106

VALUES ON THE DIAGNOSIS TOOL

NOTE:
• The output signal indicates the EPS control unit calculation data. The normal values will be displayed even

in the event that the output circuit (harness) is open.

• The following table includes information (items) inapplicable to this vehicle. For information (items) applica-

ble to this vehicle, refer to CONSULT display items.

Monitor item

Data monitor

Condition

Display value

BATTERY VOLT

Ignition switch: ON

10.5 – 16 (V)

TORQUE SENSOR

Engine running

Steering wheel: Not steering (There is
no steering force)

Approx. 0.0 Nm

Steering wheel: Right turn

Positive value (Nm)

Steering wheel: Left turn

Negative value (Nm)

MOTOR CURRENT

Engine running

Steering wheel: Not steering (There is
no steering force)

Approx. 0 A

Steering wheel: Right or left turn

Displays consumption current of

EPS motor (A)

MOTOR SIG

Engine running

Steering wheel: Not steering (There is
no steering force)

Approx. 0 A

Steering wheel: Right turn

Positive value (A)

Steering wheel: Left turn

Negative value (A)

ASSIST TORQUE

Engine running

Steering wheel: Not steering (There is
no steering force)

0.00 Nm

Steering wheel: Right turn

Positive value (Nm)

Steering wheel: Left turn

Negative value (Nm)

C/U TEMP

Ignition switch ON or engine running

Displays temperature of inside of
EPS control unit [

C (

F)]

ASSIST LEVEL

Engine running

100 %

VEHICLE SPEED

Vehicle stopped

0 km/h (0 mph)

While driving

Approximately equal to the indication

on speedometer

(inside of

10%)

WARNING LAMP

Power steering warning lamp: ON

Power steering warning lamp: OFF

Off

ENGINE STATUS

Engine not running

Stop

Engine running

Run

ST TORQUE STATUS

Engine running

Steering wheel: Not steering (There is
no steering force)

Off

Steering wheel: Right or left turn

EPS ASSIST PERMIS

Engine running

Status other than stop/start system

In stop/start system operation

Off

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