ok here are what the codes mean

code 41
Steering Contactor Fault

check the contactor and make sure it is good, good tips and good coil resistance
(44ohms to 65ohms)
- if out of range replace contactor assembly

- if within range
disconnect connectors P5, P8 and P19
check continuity between P8-14(10A) and P19-4(10B)
check continuity between P19-4(10B) and J4-1
check continuity between P5-61(31) and P19-6(31)
check continuity between P19-6(31) and J6
check continuity between P5-55(48) and P19-11(48)
check continuity between P19-11(48) and J11

if you have no continuity on any of those circuits repair harness
if you do have continuity on these circuits replace the logic card of the logic unit.

code 51
Accelerator Sensor Fault

check the linkage and make sure it is ok, not worn
then you can check voltages:

disconnect connectors P4 and P3 of logic unit
disconnect connector P9 of accelerator sensor

check continuity between P3-20 and P9-3(29)
if continuity yes -
check continuity between P4-42 and P9-2(15)
if continuity yes -
check continuity between P3-24 and P9-4(56)
check continuity between P3-25 and P9-1(28)
if continuity yes -
replace accelerator pedal
if fault remains
replace logic card of logic unit

If any continuity checks fail then repair any harness associated with the circuit wiring that failed.

Hope this helps