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DTC P1516 Throttle Actuator Control (TAC) Module Throttle Actuator Position Performance
Refer to Cell 20: TP and APP Sensors for complete circuit details.
Circuit Description
The commanded throttle position, based on accelerator pedal position and possibly other limiting factors, is compared to the Actual throttle position. The 2 values should be within a calibrated range of each other. Both the PCM and the TAC module redundantly monitor the Commanded and Actual throttle position. This DTC sets if the TAC module detects the problem.
Based on 87SAM's report on the code, sort of sounds like your throttle position sensor has a glitch in it, so you might want to think about replacing it. Do some more homework first though.