ELANTRA(XD) > 2001 > TCS > TRACTION CONTROL SYSTEM
C1611 EMS Time-out failure
C1617 EMS Invalid Engine Speed
ELANTRA(HD) > 2007 > ESC > ABS/ESC > C1611 CAN time-out EMS
Seems you may have a wheel speed sensor (right front) which has come apart and is rubbing up against the 'tone wheel' on the axel shaft.
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