Hi
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Check the wires that go into the alternater multiplug are not broken in the insulation
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/ sheth, had this on my REV 1 Mr2 turbo.
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The vibrating
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/ movment in the wires intermittanly connect causing it to charge and then disconnect so it does not charge while driving and so on.
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Also make sure the contacts inside the multiplug are clean and tight fitting.
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You should get when engine is running around 14.2 volts
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Yes when the battery power gets low the power steering will give up as it has not enough volts
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/ current to work the same as most of the other high power electrical equipment like ABS.
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Hope this helps