T6.1 Steering Assist part/no's

solutionz · 6 Oct 2021

I'm looking for potential compatible replacements for my T6.1 MY21 RHD electric power steering which seems to have a lower limit of 50km/h for lane assist (HCA).

Other VAG EPS parts / configurations apparently have lower limits such as:
1K0 909 144 M (HCA steering down to 20 km/h, no steering 20-0) - SW3201
1K0 909 144 R (HCA steering down to 20 km/h, no steering 20-0) - SW3501

Or the same limitation:
1K0 909 144 E (HCA steering down to 50 km/h, no steering 50-0) - SW2501
5N1 909 148 J (HCA steering down to 50 km/h, not steering 50-0) - SW1401

And models with Traffic Jam Assist [TJA] enabled should be able to self steer down to 0km/h.

VCDS tells me I currently have [7LA 909 144 D] which I can't find much info about online (except for scans of a few other T6.1's):

> Chassis Type: 7H-VN46 (3Q0)
> Address 44: Steering Assist (J500) Labels:| 2N0-909-143.clb
> Part No SW: 7LA 909 144 F HW: 7LA 909 144 D
> Component: EPS_MQB_ZFLS 751 7150
> Coding: 1306
> Shop #: WSC 00012 790 00202
> ASAM Dataset: EV_SteerAssisMNB 002012
> ROD: EV_SteerAssisMNB.rod
> VCID: 45DC3817C527BC43FC5-8010

However I can't locate this part in ifinterface which only lists TRC MY21 (RHD) parts for "Steering gear with int. track rod joint" (nothing under *** 909 1***):
7L2 423 061 C (To 14.06.2021)
7L2 423 061 CX
7L2 423 061 D (From 14.06.2021)
7L2 423 061 DX

Does this Steering Assist have a separate controller / rack or is it all one unit?

What is the difference between the scanned 7LA parts and the listed 7L2 parts?

Any there any other EPS parts currently used in any other T6.1's or would there be compatibility with any other VAG parts?

Robert · 6 Oct 2021

Can you post your complete VCDS Autoscan?

solutionz · 6 Oct 2021

Code:

> Chassis Type: 7H-VN46 (3Q0)
> Scan: 01 02 03 08 09 10 13 15 17 18 19 22 3C 3D 44 55 5F 69 A5 BB
>           BE D6 D7 810B
>
> VIN: WV2ZZZ7HZMH06XXX4   Mileage: 6015km-3737miles
>
> 01-Engine -- Status: OK 0000
> 02-Auto Trans -- Status: OK 0000
> 03-ABS Brakes -- Status: OK 0000
> 08-Auto HVAC -- Status: OK 0000
> 09-Cent. Elect. -- Status: Malfunction 0010
> 10-Park/Steer Assist -- Status: Malfunction 0010
> 13-Auto Dist. Reg -- Status: Malfunction 0010
> 15-Airbags -- Status: OK 0000
> 17-Instruments -- Status: Malfunction 0010
> 18-Aux. Heat -- Status: OK 0000
> 19-CAN Gateway -- Status: Malfunction 0010
> 22-AWD -- Status: OK 0000
> 3C-Lane Change -- Status: Malfunction 0010
> 3D-Special Function -- Status: OK 0000
> 44-Steering Assist -- Status: OK 0000
> 55-Headlight Range -- Status: OK 0000
> 5F-Information Electr. -- Status: Malfunction 0010
> 69-Trailer -- Status: OK 0000
> A5-Frt Sens. Drv. Assist -- Status: OK 0000
> BB-Door Rear Drv -- Status: OK 0000
> BE-Slid. Door Rear Left -- Status: OK 0000
> D6-Light Ctrl Left 2 -- Status: OK 0000
> D7-Light Ctrl Right 2 -- Status: OK 0000
> 810B-Aux. Air Heat. 2 -- Status: OK 0000
> -------------------------------------------------------------------------------
> Address 01: Engine (J623-CXEC)       Labels: None
>    Part No SW: 04L 906 057 N    HW: 04L 907 445 N
>    Component: R4 2.0l BTD   H01 0413
>    Revision: 23401001 
>    Coding: 0025401C4366050800000000000000000000000000000000
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_ECM20BTD03004L906057N 004003
>    ROD: EV_ECM20BTD030_VN46.rod
>    VCID: 392444E7B9DFC8A388D-806C
>
> No fault code found.
> Readiness: N/A
>
> -------------------------------------------------------------------------------
> Address 02: Auto Trans (J743)       Labels:. 0BH-927-711.clb
>    Part No SW: 0BT 300 012 G    HW: 0GC 927 711 H
>    Component: GSG DQ500     H06 3102
>    Revision: 00H06V11 
>    Coding: 0014
>    Shop #: WSC 00000 000 00000
>    ASAM Dataset: EV_TCMDQ500021 001001
>    ROD: EV_TCMDQ500021_VN46.rod
>    VCID: 333876CF9BB332F3421-8066
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 03: ABS Brakes (J104)       Labels: Redir Fail!
>    Part No SW: 7LA 614 517 B    HW: 7LA 614 517
>    Component: ESC_high      H01 0800
>    Serial number: 08506563210123
>    Coding: 10554452C84DEE8E085522A4136A7766393724B8
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_Brake1ESP90iBOSCHVN46X 003012
>    ROD: EV_Brake1ESP90iBOSCHVN46X_003.rod
>    VCID: 3E2E57FBA0F1EF9BBDF-806A
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 08: Auto HVAC (J255)       Labels:* None
>    Part No SW: 7LA 907 040 G    HW: 7LA 907 040 G
>    Component: Climatronic   H01 0602
>    Coding: 9031100008102300010009005040010500000000000A1501A04000000000
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_AirCondiBHTCVN54XT6PA 001002
>    ROD: EV_AirCondiBHTCVN54XT6PA.rod
>    VCID: 3FD02AFFA7FBE693B69-806A
>
>    Rear A/C Control Head 1:
>    Subsystem 1 - Part No SW: 7LA 906 453 A    HW: 7LA 906 453 A
>    Component: E857  H01 0206
>    Serial number: 00002040121230403102
>
>    Rear A/C control head:
>    Subsystem 2 - Part No SW: 7LA 907 049 F    HW: 7LA 907 049 F
>    Component: E857  H02 0301
>    Serial number: 00001065250600201612
>    Coding: 000000
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 09: Cent. Elect. (J519)       Labels: None
>    Part No SW: 2Q5 937 090 A    HW: 2Q5 937 090 A
>    Component: BCM T6PA Std+ H11 0943
>    Serial number: 00102102200494
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_BCMA0 206001
>    ROD: EV_BCMA0_206.rod
>    VCID: 353C48D795C72CC36C5-8060
>
>    Rain/Light Recognition Sensor:
>    Subsystem 1 - Part No SW: 5Q0 955 559 C    HW: 5Q0 955 559 C  Labels: 5Q0-955-547.CLB
>    Component: RLS  054 0206
>    Serial number: S6Y21M01D20H11M51S56
>    Coding: 0018EE
>
>    Driver door control module:
>    Subsystem 2 - Part No SW: 7L1 959 405 B    HW: 7L1 959 163 B
>    Component: FHSG_DRV  001 0002
>    Serial number: 00000000000047057153
>    Coding: 1F0007
>
>    Front passenger door control module:
>    Subsystem 3 - Part No SW: 7L1 959 406 B    HW: 7L1 959 164 B
>    Component: FHSG_PSG  001 0002
>    Serial number: 00000000000047113301
>    Coding: 050007
>
>    Anti-theft alarm system sensor:
>    Subsystem 4 - Part No SW: 5Q0 951 172     HW: 5Q0 951 172
>    Component: Sensor, DWA  005 0316
>    Serial number: 000000000ZY203300Z9K
>
>    Alarm horn:
>    Subsystem 5 - Part No SW: 5Q0 951 605 A    HW: 5Q0 951 605 A
>    Component: Sirene, DWA  005 0314
>    Serial number: 00000000000049101556
>
> 1 Fault Found:
> 13322 - Back-Up Light
>           B12CD 15 [009] - Open or Short to Plus
>           Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 1
>                     Reset counter: 3
>                     Mileage: 27 km
>                     Date: 2021.06.04
>                     Time: 11:28:39
>
>                     Zusaetzliche Umgebungsdaten-Terminal 15 status: OFF
>                     Zusaetzliche Umgebungsdaten-Terminal 50 status: OFF
>                     Zusaetzliche Umgebungsdaten-Low beam: Not operated
>                     Zusaetzliche Umgebungsdaten-OFF: Not operated
>                     Zusaetzliche Umgebungsdaten-Outside temperature: -50.0 °C
>                     Zusaetzliche Umgebungsdaten-Automatic high beam assist: Not operated
>                     Zusaetzliche Umgebungsdaten-Position lamps: Not operated
>                     Zusaetzliche Umgebungsdaten-Parking light left: Not operated
>                     Zusaetzliche Umgebungsdaten-Parking light right: Not operated
>                     Zusaetzliche Umgebungsdaten-CAN-Bus_aktiv: On
>                     Zusaetzliche Umgebungsdaten-last wakeup: keine Stoerschutzursache
>                     Zusaetzliche Umgebungsdaten-Status Bremslichtschalter (CAN): OFF
>                     Zusaetzliche Umgebungsdaten-Status Bremslichtschalter (HW): OFF
>                     Zusaetzliche Umgebungsdaten-voltage measurement: 12.4 V
>
>
> -------------------------------------------------------------------------------
> Address 10: Park/Steer Assist (J791)       Labels:| 5Q0-919-298.clb
>    Part No SW: 5QA 919 298 K    HW: 5QA 919 298 A
>    Component: PLA 3.0 12K   H08 0073
>    Serial number: 000150057321016
>    Coding: 8371167851
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_EPHVA2CAU3700000 009055
>    ROD: EV_EPHVA2CAU3700000.rod
>    VCID: 58E2E163229531AB973-800C
>
> 1 Fault Found:
> 13688835 - Databus
>           U1123 00 [008] - Received Error Message
>           [Steuergerät für Rear Cross Traffic Alert - RCTA_01.RCTA_Status - Fehlerspeicher auslesen]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 1
>                     Reset counter: 78
>                     Mileage: 2695 km
>                     Date: 2021.07.04
>                     Time: 13:01:28
>
>
> -------------------------------------------------------------------------------
> Address 13: Auto Dist. Reg (J428)       Labels:| 2Q0-907-572.clb
>    Part No SW: 2Q0 907 572 R    HW: 2Q0 907 572 B
>    Component: ACCCONTIMQB   H03 0372
>    Coding: 3204670B49FF8748949C815580508700000000000000000004
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_ACCMRRCONTIVW376 003016
>    ROD: EV_ACCMRRCONTIVW376_003_VN54.rod
>    VCID: 43D8260FCB138273D21-8016
>
> 1 Fault Found:
> 196740 - Sensor for Automatic Distance Control
>           C110B F0 [008] - Limited Visibility
>           [FAULT_SENSOR_BLOCKAGE]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 5
>                     Reset counter: 84
>                     Mileage: 2655 km
>                     Date: 2021.07.04
>                     Time: 12:15:07
>
>                     Voltage terminal 15: 13.1 V
>                     Control Module temperature: 39 °C
>                     Vehicle speed: 15.02 m/s
>                     Longitudinal acceleration: 0.25 m/s²
>                     Adaptive distance regulation: status: ACC_activ_controlled
>
>
> -------------------------------------------------------------------------------
> Address 15: Airbags (J234)       Labels:| 5Q0-959-655.clb
>    Part No SW: 2Q0 959 655 AE    HW: 2Q0 959 655 AE
>    Component: VW22Airbag    016 0506
>    Revision: -------- 
>    Coding: 88CCC00000000000800000CF008C00000065
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_AirbaVW22BPAVW27X 001022
>    ROD: EV_AirbaVW22BPAVW27X.rod
>    VCID: 0052E9039A85596B8F3-8054
>
>    Crash sensor for side airbag: driver side:
>    Subsystem 1 - Part No SW: -----------    HW: 442 060 501 21
>    Component: SideSensor_Df  1E2 0887
>    Serial number: 3577Y529B004634282E/
>    Coding: 2D2D2D
>
>    Front Passenger's Side Airbag Crash Sensor:
>    Subsystem 2 - Part No SW: -----------    HW: 442 060 501 21
>    Component: SideSensor_Pf  1E2 0887
>    Serial number: 3587Y52C10024CB4521W
>    Coding: 2D2D2D
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 17: Instruments (J285)       Labels:* Redir Fail!-SRI3
>    Part No SW: 7LA 920 320 A    HW: 7LA 920 320 A
>    Component: KOMBI         502 5175
>    Coding: 24A40008658800080188620B1001000080001F02
>    Shop #: WSC 00012 790 00049
>    ASAM Dataset: EV_DashBoardVDDMQBA0 001044
>    ROD: EV_DashBoardVDDMQBA0_VW27.rod
>    VCID: 353C48D795C72CC36C5-8060
>
> 5 Faults Found:
> 16777018 - Function Restricted due to Interrupted Communications
>           U1110 00 [008] - -
>           [BAP_Audio_0x31 keine Kommunikation]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 33
>                     Reset counter: 112
>                     Mileage: 27 km
>                     Date: 2021.06.04
>                     Time: 10:25:36
>
> 16777020 - Function Restricted due to Interrupted Communications
>           U1110 00 [008] - -
>           [BAP_TEL_0x28 keine Kommunikation]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 6
>                     Reset counter: 105
>                     Mileage: 982 km
>                     Date: 2021.06.15
>                     Time: 15:26:08
>
> 16777022 - Function Restricted due to Interrupted Communications
>           U1110 00 [008] - -
>           [BAP_NAV SD_0x32 keine Kommunikation]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 7
>                     Reset counter: 105
>                     Mileage: 982 km
>                     Date: 2021.06.15
>                     Time: 15:26:08
>
> 16777056 - Function Restricted due to Interrupted Communications
>           U1110 00 [008] - -
>           [BAP_SDS_0x46 keine Kommunikation]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 33
>                     Reset counter: 112
>                     Mileage: 27 km
>                     Date: 2021.06.04
>                     Time: 10:25:36
>
> 16711685 - Databus
>           U1121 00 [008] - Missing Message
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 27
>                     Reset counter: 107
>                     Mileage: 27 km
>                     Date: 2021.06.04
>                     Time: 10:25:38
>
>
> -------------------------------------------------------------------------------
> Address 18: Aux. Heat (J364)       Labels:* None
>    Part No SW: 5WA 963 271 C    HW: 5WA 963 271 C
>    Component: STH-VW37x     006 0012
>    Serial number: 000000000000050
>    Coding: 3143221854121512DCE519
>    Shop #: WSC 00000 000 00000
>    ASAM Dataset: EV_AuxilHeateWOSVW38X 002009
>    ROD: EV_AuxilHeateWOSVW38X_002.rod
>    VCID: 4CCA0D33E64D4D0B23B-8018
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 19: CAN Gateway (J533)       Labels:| 3Q0-907-530-V1.clb
>    Part No SW: 3Q0 907 530 AG    HW: 3Q0 907 530 C
>    Component: GW MQB High   521 5423
>    Serial number: 14012110803484
>    Coding: 030100544F05730401100258100F00010001070000000000000000000000
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_GatewNF 013026
>    ROD: EV_GatewNF_VW27.rod
>    VCID: 74BAB5D3DE3D75CB9BB-8020
>
>    Generator:
>    Component: 5-01-15-01-04
>
>    Multifunction steering wheel control module:
>    Subsystem 2 - Part No SW: 3G0 959 442 N    HW: 3G0 959 442 N
>    Component: E221__MFL-PR6  H07 0110
>    Serial number: PR6-0440036007212854
>    Coding: 2C0D00
>
>    Battery Monitoring Control Module:
>    Subsystem 3 - Part No SW: 7E0 915 181 L    HW: 7E0 915 181 L
>    Component: J367-BDMConti  H03 1051
>    Serial number: 77197200002101180406
>
> 1 Fault Found:
> 8531970 - Quiescent Current
>           U1406 00 [008] - Too High
>           [Ruhestrom oberer Grenzwert überschritten]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 7
>                     Fault Frequency: 6
>                     Reset counter: 105
>                     Mileage: 874 km
>                     Date: 2021.06.14
>                     Time: 15:31:20
>
>                     Terminal 30 power supply: 12.6 V
>                     Terminal 15: OFF
>
>
> -------------------------------------------------------------------------------
> Address 22: AWD (J492)       Labels:* 0CQ-907-554.clb
>    Part No SW: 0CQ 907 554 L    HW: 0CQ 525 130 C
>    Component: Haldex4Motion H56 7822
>    Serial number: HA1-00004.11.20
>    Coding: 0001
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_AllWheelContrHA1VW37X 004013
>    ROD: EV_AllWheelContrHA1VW37X_004.rod
>    VCID: 4ECE073B10517F1B4DF-801A
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 3C: Lane Change (J1086)       Labels:* None
>    Part No SW: 2Q0 907 686 B    HW: 2Q0 907 686 B
>    Component: HRE3_Kl15_Mst H06 0150
>    Serial number: 14520006267891
>    Coding: 92954640
>    ASAM Dataset: EV_HREntryHellaGen3Kl15 002001
>    ROD: EV_HREntryHellaGen3Kl15.rod
>    VCID: 392444E7B9DFC8A388D-806C
>
>    Lane change assistance control module 2:
>    Subsystem 1 - Part No SW: 2Q0 907 685 B    HW: 2Q0 907 685 B
>    Component: HRE3_Kl15_Slv  H06 0150
>    Serial number: 14520006325525   
>
> 2 Faults Found:
> 1572876 - Control Module for Lane-Change Assist
>           C1114 F3 [008] - Limited Visibility
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 1
>                     Reset counter: 5
>                     Mileage: 2695 km
>                     Date: 2021.07.04
>                     Time: 13:01:33
>
> 1572877 - Control Module 2 for Lane-Change Assist
>           C1115 F5 [008] - Limited Visibility
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 1
>                     Reset counter: 5
>                     Mileage: 2695 km
>                     Date: 2021.07.04
>                     Time: 13:01:28
>
>
> -------------------------------------------------------------------------------
> Address 3D: Special Function (J608)       Labels:* None
>    Part No SW: 2N0 907 427 R    HW: 2N0 907 427 H
>    Component: KFG       H24 0408
>    Serial number: GB24205023878
>    Coding: 04002000000000200200000860B8135EB8000000
>    Shop #: WSC 131071 1023 2097151
>    ASAM Dataset: EV_SpeciFunctFlextVN54X 008036
>    ROD: EV_SpeciFunctFlextVN54X.rod
>    VCID: 3FD02AFFA7FBE693B69-806A
>
>    Subsystem 5 - Part No SW: 7C0 907 155     HW: 7C0 907 155
>    Component: U13DCAC  H05 0870
>    Serial number: A059679           
>
>    Subsystem 6 - Part No SW: 7E0 915 181 M    HW: 7E0 915 181 M
>    Component: J367-BDMConti  H03 1051
>    Serial number: 771945010020120302AA
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 44: Steering Assist (J500)       Labels:| 2N0-909-143.clb
>    Part No SW: 7LA 909 144 F    HW: 7LA 909 144 D
>    Component: EPS_MQB_ZFLS  751 7150
>    Coding: 1306
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_SteerAssisMNB 002012
>    ROD: EV_SteerAssisMNB.rod
>    VCID: 45DC3817C527BC43FC5-8010
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 55: Headlight Range (J745)       Labels:| 7P6-907-357.clb
>    Part No SW: 7P6 907 357 E    HW: 7P6 907 357 A
>    Component: AFS-ECU       H07 0080
>    Revision: --------    Serial number: --------------
>    Coding: 0C8E020009200003
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_HeadlRegulAFSMQBMAX 001001
>    ROD: EV_HeadlRegulAFSMQBMAX_VW27.rod
>    VCID: 41D42C07D10F9063C0D-8014
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 5F: Information Electr. (J794)       Labels:* None
>    Part No SW: 3G5 035 876 C    HW: 3G5 035 876 A
>    Component: MU-O-N-R2     H56 0782
>    Serial number: WG8LGM151220000
>    Coding: 64600008000020000000000000000000000000000000000000
>    ASAM Dataset: EV_MUOIMQB 001002
>    ROD: EV_MUOIMQB_VN46.rod
>    VCID: 2F307ABF779B1613269-807A
>
>    Display and control head 1 for information electronics:
>    Subsystem 1 - Part No SW: 5G6 919 606 B    HW: 5G6 919 606 B
>    Component: ABT_High-2     H61 9216
>    Serial number: VWZ6ZJY0080187   
>
>    Data carrier:
>    Subsystem 2 - Part No SW: V03 959 808 TG    HW: -----------
>    Component: MRM 2020/21    --- 3085
>    Serial number: --------------------
>
> 3 Faults Found:
> 7201 - Function Restricted due to Interrupted Communications
>           U1110 00 [009] - -
>           [Road sign display (0x21) - function restriction due to communication error - BapErr_retry not successful]
>           Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 6
>                     Fault Frequency: 1
>                     Reset counter: 40
>                     Mileage: 5672 km
>                     Date: 2021.08.08
>                     Time: 10:29:31
>
>                     BAP: 00
>                     Voltage terminal 30: 12.0 V
>
> 6720 - Rear View Camera
>           B1102 31 [008] - No Signal
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 3
>                     Fault Frequency: 3
>                     Reset counter: 32
>                     Mileage: 5589 km
>                     Date: 2021.08.03
>                     Time: 14:11:35
>
>                     Voltage terminal 30: 12.0 V
>
> 1564 - Microphone 1
>           B129B 13 [008] - Open Circuit
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 4
>                     Reset counter: 22
>                     Mileage: 4484 km
>                     Date: 2021.07.17
>                     Time: 13:19:20
>
>                     Voltage terminal 30: 12.3 V
>
>
> -------------------------------------------------------------------------------
> Address 69: Trailer (J345)       Labels:| 5H0-907-383.clb
>    Part No SW: 5H0 907 383     HW: 5H0 907 383
>    Component: Anhaenger     H09 0040
>    Serial number: 000000000005666
>    Coding: 0300000101001300
>    ASAM Dataset: EV_TrailFunctGener3Hella 001009
>    ROD: EV_TrailFunctGener3Hella_VW37.rod
>    VCID: 6B88AEAF8303AA334A1-803E
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address A5: Frt Sens. Drv. Assist (R242)       Labels:* None
>    Part No SW: 2Q0 980 653 B    HW: 2Q0 980 653
>    Component: MQB MFK 3.0   H13 1202
>    Serial number: E57829512203390
>    Coding: 00010C08117AC020909F00000030002006018000000000000000000000000000
>    ASAM Dataset: EV_MFK3ValeoMQB 007042
>    ROD: EV_MFK3ValeoMQB_007_VW27.rod
>    VCID: 343A75D39EBD35CB5BB-8060
>
> 1 Fault Found:
> 15361024 - Component Protection
>           U1101 00 [008] - Active
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 5
>                     Reset counter: 29
>                     Mileage: 5239 km
>                     Date: 2021.07.30
>                     Time: 13:07:29
>
>                     Theft_protection_error_counter: 37
>
>
> -------------------------------------------------------------------------------
> Address BB: Door Rear Drv (J1093)       Labels: None
>    Part No SW: 7LA 035 593 A    HW: 7LA 035 593 A
>    Component: SLD_Rx-Unit_d H07 0031
>    Serial number: 19008E39
>    Coding: 00
>    ASAM Dataset: EV_ReceiRearDriveSideHuf 002002
>    ROD: EV_ReceiRearDriveSideHuf.rod
>    VCID: 3E2E57FBA0F1EF9BBDF-806A
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address BE: Slid. Door Rear Left (J926)       Labels:* None
>    Part No SW: 7LA 959 244 D    HW: 7LA 959 244 D
>    Component: Slidingdoor_d H09 0037
>    Serial number: 18006E7A
>    Coding: 1A
>    ASAM Dataset: EV_SlideDoorDriveHufT6PA 001010
>    ROD: EV_SlideDoorDriveHufT6PA_VN46.rod
>    VCID: 49C43427E93F582318D-801C
>
> 3 Faults Found:
> 28719 - Pinch Protection Sensor
>           B1158 F0 [096] - Constantly Active
>           Intermittent - Not Confirmed - Tested Since Memory Clear
>
> 12403 - Control Circuit for Motors for Automatic Sliding Door
>           B11D2 1C [104] - Voltage Implausible
>           [Sliding_door_motor_releais_stucking]
>           Intermittent - Confirmed - Tested Since Memory Clear
>              Freeze Frame:
>                     Fault Status: 00000001
>                     Fault Priority: 4
>                     Fault Frequency: 7
>                     Reset counter: 5
>                     Mileage: 3055 km
>                     Date: 2021.07.09
>                     Time: 11:02:51
>
> 12313 - Motor for Sliding Door Opening
>           B115A 19 [096] - Current Too High
>           Intermittent - Not Confirmed - Tested Since Memory Clear
>
>
> -------------------------------------------------------------------------------
> Address D6: Light Ctrl Left 2 (A31)       Labels: 7PP-941-572.clb
>    Part No SW: 992 941 571 AE    HW: 992 941 571 A
>    Component: LED1L         H08 9202
>    ASAM Dataset: EV_LLPGen3LKEBODPO68X 001003
>    ROD: EV_LLPGen3LKEBODPO68X_VW27.rod
>    VCID: 659CD89765E79C431C5-8030
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address D7: Light Ctrl Right 2 (A27)       Labels: 7PP-941-572.clb
>    Part No SW: 992 941 571 AE    HW: 992 941 571 A
>    Component: LED1R         H08 9202
>    ASAM Dataset: EV_LLPGen3RKEBODPO68X 001003
>    ROD: EV_LLPGen3LKEBODPO68X_VW27.rod
>    VCID: 659CD89765E79C431C5-8030
>
> No fault code found.
>
> -------------------------------------------------------------------------------
> Address 810B: Aux. Air Heat. 2 (J604)       Labels:* None
>    Part No SW: 7C0 963 273 C    HW: 7C0 963 273 C
>    Component: LSH_DIESEL    008 0026
>    Coding: 2200
>    Shop #: WSC 00012 790 00202
>    ASAM Dataset: EV_LSHECCSMNB 002018
>    ROD: EV_LSHECCSMNB_002.rod
>    VCID: 2B086EAF43836A330A1-807E
>
> No fault code found.
>
> End----------(Elapsed Time: 01:59, VBatt start/end: 12.2V/12.2V)-----------

solutionz · 7 Oct 2021

I've compiled a list of some recent model EPS_MQB_ZFLS I've found mostly from VAG Coding Database - modules and component info and Ross-Tech Forums

It looks like the [5Q0 909 144 AA] or [3Q0 909 144 L] would do what I want however I'm not sure if they'd be physically compatible.

Model	Part number (SW/HW)	SW / HW	Coding	Confirmed No HCA below (km/h)
Multivan T6.1 2021	7LA 909 144 G 7LA 909 144 D	SW: 7160 HW: 751	9306
Multivan T6.1 2021	7LA 909 144 G 7LA 909 144 D	SW: 7160 HW: 751	0106
California T6.1 2021	7LA 909 144 F 7LA 909 144 D	SW: 7150 HW: 751	1306	50
Transporter T6.1	7LA 909 144 F 7LA 909 144 D	SW: 7150 HW: 751	0106
Caravelle 2020	7LA 909 144 F 7LA 909 144 D	SW: 7150 HW: 751	0306
TGE / Crafter 2020	2N0 909 143 G 2N0 909 143 C	SW: 7031 HW: 701	0107
A3 2020	5Q0 909 144 AB 5Q0 909 144 AA	SW: 1082 HW: 130	011F0000
T-Roc 2020	3Q0 909 144 M 3Q0 909 144 L	SW: 5082 HW: 507	951F0000
T-Roc 2019	5Q0 909 144 AB 5Q0 909 144 AA	SW: 1082 HW: 131	951F0000
Crafter 2019	2N0 909 143 G 2N0 909 143 C	SW: 7031 HW: 701	0107
Crafter 2019	2N0 909 143 E 2N0 909 143 C	SW: 7021 HW: 701	0106
Kodiaq 2019	5QF 909 144 B 5QF 909 144 A	SW: 5582 HW: 507	93170000	0
Arteon 2018	3Q0 909 144 L 3Q0 909 144 L	SW: 5081 HW: 507	13170000
Octavia III (A7) 2018	3Q0 909 144 L 3Q0 909 144 L	SW: 5081 HW: 507	91170000	0
Octavia 2018	3Q0 909 144 K 3Q0 909 144 H	SW: 5072 HW: 506	9307	0
Octavia 2018	5Q0 909 144 AA 5Q0 909 144 AA	SW: 1081 HW: 131	91170000	0
Golf VII 2018	5Q0 909 144 AA 5Q0 909 144 AA	SW: 1081 HW: 130	011F0000	0

solutionz · 7 Oct 2021

solutionz said:
What is the difference between the scanned 7LA parts and the listed 7L2 parts?

Looking at some eBay pics it looks like the [7L2 423 xxx X] (RHD) or [7L1 423 xxx X] (LHD) part is just the steering rack part or maybe the complete unit, and what VCDS shows [7LA 909 144 D] is the attached electric motor which seems to have a built-in controller.

7L2423051F

solutionz · 9 Oct 2021

@Pauly Do you have access to any updated SSP and/or more detailed wiring diagram for the newer VAG EPS racks such as 7LA 909 144 D on T6.1?

I'm particular I'm looking for details on the interface between the steering torque sensor [G269] and the control unit mounted to the servomotor [J500].

This only shows the wiring to the control unit (not the pinout from J500 to G269): T6.1 - Power Steering Wiring Diagram

And the latest SSP I can find (SSP 339, Pg 26) shows a 4 wire twin hall sensor analog interface: http://www.vaglinks.com/docs/ssp/VWUSA.COM_SSP_399_Electromechanical_steering.pdf

Whereas it looks like the newer Bosch units are a 5-wire, possibly digital PAS interface like: https://www.boschrexroth.com/docume...weis.pdf/66ab1a93-0796-708e-7489-005d63c1d4a5

solutionz · 26 Sep 2022

Okay after a bit of a covid hiatus I've finally gotten around to pulling apart a 7L2 423 051 F (7LA 909 144 D).

Interestingly I noticed Bosch put the above link behind a login so I've attached a copy.

solutionz · 26 Sep 2022

So it looks like this is a Bosch (formally ZF Lenksysteme) Servolectric Electric Power Steering System Belt Drive Servo Unit (EPSapa) Type 7806.

The 5-wire connector to the torque sensor includes 1x index hall sensor and 2x (possibly inverse) PAS(4/PSI5?) current sensors.

It's basically identical to the torque sensor spec sheet attached that only shows a single torque signal + index 3-wire setup as per diagram below.

Some other relevant docs attached for future reference.

Any other info, firmware, part numbers etc would be much appreciated as I'm still looking for solutions to achieve lane assist / HCA from 0 (and/or retrofit TJA).

solutionz · 6 Oct 2022

EPS motor PCB for reference. Will try to extract the firmware unless someone can obtain an copy [7LA909144D] from ODIS etc.

Looks pretty similar to this:

https://twitter.com/x/status/1186481129504690177

Robert · 28 Oct 2022

solutionz said:
VCDS tells me I currently have [7LA 909 144 D] which I can't find much info about online (except for scans of a few other T6.1's):

> Chassis Type: 7H-VN46 (3Q0)
> Address 44: Steering Assist (J500) Labels:| 2N0-909-143.clb
> Part No SW: 7LA 909 144 F HW: 7LA 909 144 D
> Component: EPS_MQB_ZFLS 751 7150
> Coding: 1306
> Shop #: WSC 00012 790 00202
> ASAM Dataset: EV_SteerAssisMNB 002012
> ROD: EV_SteerAssisMNB.rod
> VCID: 45DC3817C527BC43FC5-8010

@solutionz can I ask you for a favour?

Would you mind to check your coding/adaptations and see if there is option to enable power steering when ignition is OFF?
Obviously if you could test this functionality it would be great.
Even going a little bit further by checking if the power steering works with the CAN-BUS plug being disconnected from the steering rack module?
Stationary test would be enough.

solutionz · 29 Oct 2022

Sure I can do that.

So you basically want to know if the EPS will assist with 12VDC to KL30a, with or without SIG15?

Should be easy enough as I have one I can put on the bench with a battery. I'm also just waiting on a harness to get a bench setup working through J533.

solutionz · 29 Oct 2022

I just bench tested and basically EPS appears to operate fine without CAN.

A brief +12VDC on SIG15 is required to "wake it up" then it will continue to operate without only +12VDC on KL30a (and GND).

If KL30a is disconnected then assist will stop, but will resume again if KL30a is re-connected within a few seconds (without SIG15).

I suppose you're wanting to know whether it can be coded to work without SIG15 at all?

Robert · 29 Oct 2022

You are absolutely correct.
Thank you so much @solutionz :thumbsup:

I think you just have confirmed that I am going to have electric power steering on my T6(PQ25) in the very easy way, subject to mechanical fitment/compatibility.
Obviously followed by LANE ASSIST in the near future :inlove:

.

solutionz · 30 Oct 2022

Robert · 30 Oct 2022

Thanks for your verification.
I got my own steering rack eventually.
Now I need to prep my wiring loom followed by the fitment test.

solutionz · 30 Oct 2022

If you can retrofit EPS to your T6 then you should eventually be able to install OpenPilot even without LKAS camera or radar.

MitchRD · 9 Nov 2022

solutionz said:
View attachment 177850
View attachment 177851
View attachment 177852

Hi New member here

I've been handed over on a project 2020 t6.1 that does not have and engine fitted and id like the PAS to work still
I see there is an option for adaptations to activate PAS without engine running but i get asked for security access when trying to activate it.

i have also tried the bench test method described in this thread without success

does anyone have any suggestions on how i can get PAS to run?

thanks

solutionz · 9 Nov 2022

Google VCDS security access modules 44 for the codes and/or ensure the bonnet is also open.

It won't work on the bench of there's and active fault code, you'll need to first clear the code.

Robert · 9 Nov 2022

MitchRD said:
Hi New member here

I've been handed over on a project 2020 t6.1 that does not have and engine fitted and id like the PAS to work still
I see there is an option for adaptations to activate PAS without engine running but i get asked for security access when trying to activate it.

i have also tried the bench test method described in this thread without success

does anyone have any suggestions on how i can get PAS to run?

thanks

Have you tried these?
19249
28183
44595

MitchRD · 10 Nov 2022

Robert said:
Have you tried these?
19249
28183
44595

i have tried 19249 which it accepts until you want to change the adaptation then vcds will reject it
i will try the others but thinking as solutionz said it might not work while there is error codes stored

T6.1 Steering Assist part/no's

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