DTC U2016: Control Module Main Software: Description

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When the battery voltage to the PSCM is greater than 10 volts with the ignition ON and there are no DTCs present, the PSCM runs a self-test of the system software. If an error is detected, a DTC is set and the EPAS enters into a limited operation mode.

DTC U2016:09 (Control Module Main Software: Component Failure) - Sets due to an internal failure in the PSCM software.
DTC U2016:47 (Control Module Main Software: Watchdog/Safety Micocontroller Failure) - Sets due to an internal failure in the PSCM software.
DTC U2016:48 (Control Module Main Software: Supervision Software Failure) - Sets due to an internal failure in the PSCM software.
DTC U2016:57 (Control Module Main Software: Invalid/Incompatible Software Component) - Sets due to an internal failure in the PSCM software.
DTC U2016:66 (Control Module Main Software: Signal Has Too Many Transitions/Events) - Sets due to an internal failure in the PSCM software.
DTC U2016:94 (Control Module Main Software: Unexpected Operation) - Sets due to an internal failure in the PSCM software.