EPS DTC Troubleshooting: 51-02, 51-03, 51-06, 51-07
  1. Check for continuity between torque sensor 3P connector terminal No. 2 and body ground.
Is there continuity?
YES -
Repair short to ground in the wire between the torque sensor and the EPS control unit.■
NO -
Faulty torque sonsor (short in the sensor internal circuit), replace the steering gearbox. ■
  1. Disconnect the torque sensor 3P connector from the steering gearbox.