DTC C1616-88: C-CAN Bus OFF: General Description
WARNING: This page is about a different car, the 2021 Kia Seltos. However, it is still accessible from the selected car via links, so may be relevant.
The Motor Driven Power Steering (MDPS) unit controls warning lamp by sending a signal via CAN line. After sending a message, MDPS unit checks signal about whether other ECU receives a signal correctly. If MDPS unit receives signal from other ECU it recognizes that a message was transmitted normally.