The most common cause for this code is the heater inside the oxygen sensor burning out. When this happens, it will cause the circuit to either incomplete, or open, or short out. Essentially, the ECM has a pre-set amount of resistance that it wants to see for the sensor to heat up properly.
When the circuit is open, there will be an infinite amount of resistance because current can no longer travel along a complete path. When the sensor shorts out, the resistance is too low and the sensor will not heat up enough for the sensor to operate properly.
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