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DTC 39 Motor Is Overloaded

WARNING: This page is about a different car, the 2006 Subaru Baja. However, it is still accessible from the selected car via links, so may be relevant.
DTC 39 MOTOR IS OVERLOADED DIAGNOSTIC REFERENCE

Step Check Yes No
1 CHECK THE OPERATING CURRENT TO ACTUATOR MOTOR. 
  1. Connect Subaru Select Monitor to data link connector.
  2. Try to drive the vehicle while operating the cruise control system.
  3. Measure the operation current to the cruise control actuator motor.
Is the current valve less than 10 A? Replace cruise control module. < Ref. to CRUISE CONTROL MODULE . > Check the power supply circuit. < Ref. to CHECK POWER SUPPLY , Diagnostics Chart with Symptom. >