EPS uses an electric motor to provide directional contol to the driver. An electric mortor consumes much current during operating. It can be overheat under excessive use, at that time EPS CM (MDPS=Motor Driving Power Steering) restricts motor current for protecting EPS from unexpected problem.

This code happens when a driver excessively steers at stop condition. At this time, clear DTC and wait for about 20 ~ 30 minutes with not steering. And then check if the steering force gets back to normal.