U0126 RAM Code - Lost Communication With Steering Angle Sensor Module

The primary communication network between electronic control modules on this vehicle is the Controller Area Network (CAN) data bus system. The Controller Area Network (CAN) data bus allows all electronic modules connected to the bus to share information with each other. Regardless of whether a message originates from a module on the higher speed CAN C (500K) Bus or on the lower speed CAN Interior High Speed (IHS) (125K) Bus the message structure and layout is similar, which allows the Totally Integrated Power Module/Central GateWay (TIPM or TIPMCGW) to process and transfer messages between the CAN buses. The TIPM also stores Diagnostic Trouble Codes (DTCs) for certain bus network faults.
All modules transmit and receive messages over one of these buses. Data exchange between the modules is achieved by serial transmission of encoded data messages (a form of transmission in which data bits are sent sequentially, one at a time, over a single line). Each module can both send and receive serial data simultaneously. Each data bit of a CAN Bus message is carried over the bus as a voltage differential between the two bus circuits which, when strung together, form a message. Each module uses arbitration to sort the message priority if two competing messages are attempting to be broadcast at the same time. Corruption of a single bit within a message will corrupt the entire message. Each message contains a Cyclic Redundancy Check (CRC) which specifies the message size exactly. If the message detected conflicts with the CRC the ECU receiving it will determine the message to be an error and consider that communication has not been possible. Diagnosis of this condition using a lab scope may reveal activity that appears to be Bus data messages even if no actual communication is possible. Communication problems that affect the whole bus, as a result of opens and terminal push outs are more likely to occur on data busses that operate at a high speed than a data bus that operates at a lower speed.
When an open circuit or terminal push out occurs one or more modules can become isolated from the remainder of the bus. The isolated module will attempt to communicate. Since each module contains it own termination a module that is isolated may receive its own messages correctly but will not be able to receive messages or determine arbitration from other modules. Each time the isolated module attempts to communicate it alters the bus voltage on the intact bus circuit. Without functioning arbitration the isolated module alters the bus voltage while other bus messages are being sent thereby corrupting the messages on the remainder of the bus.
The CAN bus modules are connected in parallel to the two-wire bus using a twisted pair, where the wires are wrapped around each other to provide shielding from unwanted electromagnetic induction, thus preventing interference with the relatively low voltage signals being carried through them. While the CAN bus is operating (active), one of the bus wires will carry a higher voltage and is referred to as the CAN High or CAN bus (+) wire, while the other bus wire will carry a lower voltage and is referred to as the CAN Low or CAN bus (-) wire.

• Faulty Steering Angle Sensor
• Faulty Steering Angle Sensor Module
• Steering Angle Sensor Module harness is open or shorted
• Steering Angle Sensor Module circuit poor electrical connection
• faulty Anti-Lock Brake System (ABS) Module