WARNING! Life threatening injures possible due to vehicle slipping or toppling off while on lift. Prior to lift vehicle completely (wheels still in contact with floor), ensure that the vehicle is centered within the lift columns and lift arm supports are correctly placed unto the vehicle contact points. Preparation for Test: 1. Review section 0, 13, 21, 22, 23 2. Review Important Data Charts on pages 13/2, 13/3, 13/4

Complaint/Problem	Possible cause	Test step/Remedy 1)
ESP MIL (A1e42) or ABS MIL (A1e17) illuminates with engine running.		Read DTC memory, 12
BAS/ESP MIL (A1e47) or ABS MIL (A1e17) illuminates while driving and does not go out		Read DTC memory, 12
ESP MIL (A1e42) or ABS MIL (A1e17) illuminates while driving and then goes out	Vehicle system voltage < 11 V, too many electrical consumers in use.	Check generator (G2), Read DTC memory, 12
ESP MIL (A1e42) or ABS MIL (A1e17) does not illuminate with ignition turned on	Lamp, Wiring.	Read DTC memory, 12 Read DTC memory for instrument cluster, using HHT
ABS MIL (A1e17) comes on with engine running after brake test or dynamometer use	Implausible wheel speed signal due to different rpm at front and rear axles.	Read, erase DTC memory 12
ESP MIL (A1e42) illuminates after the following causes (see Possible Causes) and upon DTC read-out using the HHT, the DTC is displayed	Driving through steep turning curves, Vehicle collision, Vehicle spin-out on slippery road surfaces, as a result: the DTC can be ignored.	Read, erase DTC memory
ESP MIL (A1e42) illuminates and after reading-out the DTC's via the HHT, the DTC and at least one additional DTC between and is/are displayed.	Short circuit in more then one of the solenoid valves of the hydraulic unit or short in the wiring harness If two of the solenoid valves have a short circuit, then the voltage supply to all the solenoid valves is shut-off.	Check all the solenoid valves of the hydraulic unit along with the corresponding wiring for solenoid valves for any short circuits.

1) Observe Preparation for Test, see 22.

CAN signal	Type of Information
ABS/ETS/ESP status	Brake pad wear sensor indicator lamp Parking brake warning lamp ABS MIL System fault or diagnostics Stop lamp switch (S9/1): Brake pedal not pressed, Brake pedal depressed, No signal Cruise control OFF ABS/ETS/ESP functions OK ABS/ETS/ESP function OFF
Left front wheel speed signal	Wheel rpm
Right front wheel speed signal	Wheel rpm
Left rear wheel speed signal	Wheel rpm
Right rear wheel speed signal	Wheel rpm
Left front wheel speed signal for cruise control	Wheel rpm
Right front wheel speed signal for cruise control	Wheel rpm
CAN signal	Type of Information
ABS status	Cruise control function OFF ABS/ETS/ESP functions OK ABS/ETS/ESP function OFF System fault or diagnostics
ETS/ASR/ESP status	Brake pad wear sensor indicator lamp Parking brake warning lamp ABS MIL ETS/ASR/ESP MIL ASR/ESP OFF MIL Wheel spin or ASR/ESP active (MIL blinks) Stop lamp switch (S9/1): Brake pedal not pressed, Brake pedal depressed, No signal ASR request: "2nd gear start" ASR request: "hold in gear" Rapid ASR control function Increase in: engine braking regulation (EBR) Decrease in: engine braking regulation (EBR) Cruise control OFF ASR functions OK ABS/ASR function OFF System fault or diagnostics
Left front wheel speed signal	Wheel rpm
Right front wheel speed signal	Wheel rpm
Left rear wheel speed signal	Wheel rpm
Right rear wheel speed signal	Wheel rpm
Left front wheel speed signal for cruise control	Wheel rpm
Right front wheel speed signal for cruise control	Wheel rpm

CAN signal	Type of Information	From which control module
Engine status	Engine rpm	Engine control module
Engine status	Required engine torque for traction control	Engine control module
Engine status	Atmospheric pressure	Engine control module
Engine status	Acknowledge engine moment request	Engine control module
Engine status	Accelerator Pedal value	Engine control module
Engine status	Indicated engine moment	Engine control module
Engine status	Engine friction moment	Engine control module
Engine status	Maximum engine moment	Engine control module
Vehicle version code	Model Chassis Engine Transmission	Engine control module
Transmission status	Actual gear Requested gear	Electronic transmission control (ETC)
Transmission status	Rear Drive All wheel drive	Electronic transmission control (ETC)
Transmission status	Intial shift request Transmission in emergency limp-home-mode	Electronic transmission control (ETC)
Transmission code	Large transmission Small transmission	Electronic transmission control (ETC)
Transmission status	Torque converter lock-up: "locked" Torque converter lock-up: "unlocked" Torque converter lock-up: "slip"	Electronic transmission control (ETC)