The friction in the system is too high
Step-1: Check the hydraulic oil-level, pump, pipes, hoses and steering gear. Step-2: Replace or repair the defective parts by referring to the part specific service manuals. Step-3: Perform a Klemme-15 reset (New Ignition cycle). Step-4: Replace the servo unit (powerpack and sensor unit) if the DTC is still active.
What you'll see
The driver might detect reduction in Assistance/Hard Steering due to reduced electrical support.
System reaction
Set the Yellow Lamp to "On". Set the signal EASState to ERROR. Set the EPS motor torque to 0 Nm. Electric steering system is inactive. Software endstops are deactivated. DTC, KFC_ERROR_MODE_ACTIVE is set ACTIVE in the same Klemme-15 cycle.
Diagnostic depth
The DTC will set during the following condition: 1.System state: DriveDown, DriveUp. 2.System voltage is above 6v. 3.System voltage is below 42v.
Internal Software error. Hint: Absolute value of motor torque offset and steering torque offset > 8 Nm/ms