Complaint/Problem	Possible cause	Test step/Remedy 1)
ESP warning lamp (A1e41) illuminates when ignition switch is turned ON.	ESP OFF switch (S76/6) has been turned to: ESP OFF position.	Turn ESP OFF switch (S76/6) back to position: ON
ESP warning lamp (A1e41) blinks briefly while driving.	ESP action has taken place in order to stabilize vehicle (no DTC stored). Check implausibility of VSS	Read out DTC's for ESP control module using HHT, See 12
BAS/ESP MIL (A1e47) and/or ETS MIL (A1e35) and/or ABS MIL (A1e17) illuminates while driving and then goes out.	Vehicle system voltage < 11 V, too many electrical consumers in use, or Steering angle sensor (N49) was temperarily not initialized.	Check generator (G2), Read out DTC's for ESP control module, using HHT, See 12
ABS MIL (A1e17) and ETS MIL (A1e35) and BAS/ESP MIL (A1e47) illuminate with engine running after brake test or dynamometer use.	Nonplausible rpm signal due to different rpm at front and rear axles.	Read out DTC's for ESP control module, erase DTC's using HHT. See 12
BAS/ESP MIL (A1e47) or ETS MIL (A1e35)or ABS MIL (A1e17) or Low brake fluid level/parking brake/brake-force proportioning indicator lamp (A1e17) do not illuminate with ignition switch turned: ON	Indicator lamps, Instrument cluster (A1) With CAN communication interruptions between the instrument cluster (A1) and the ESP/BAS control module (N47-5A), the BAS/ESP MIL (A1e47) will be illuminated.	Read out DTC's for instrument cluster (A1), Readout DTC's for ESP control module, See 12
BAS/ESP MIL (A1e47) and/or ETS MIL (A1e35) and/or ABS MIL (A1e17) and/or Low brake fluid level/parking brake/brake-force proportioning indicator lamp (A1e7)will illuminate when the engine is running and will not go out.		Read out DTC's for ESP control module. See 12

1) Observe Preparation for Test, see 22.

Important CAN data outputs FROM the ESP control module (N47-5)

CAN signal	Information
ABS/ETS/ESP status	Increase or reduction of specified engine torque
ABS/ETS/ESP status	Transmission shift requirements
ABS/ETS/ESP status	Activation of MIL and warning lamps: Brake lining wear indicator lamp (A1e6) Low brake fluid level/parking brake/brake-force proportioning indicator lamp (A1e7) ABS MIL (A1e17) ETS MIL (A1e35) ESP warning lamp (A1e41) BAS/ESP MIL (A1e47)
ABS/ETS/ESP status	Stop lamp switch (S9/1): Brake not operated Brake operated No signal
ABS/ETS/ESP status	Cruise control function OFF
Left front wheel vehicle speed signal (VSS)	Wheel speed
Right front wheel vehicle speed signal (VSS)	Wheel speed
Rear left wheel vehicle speed signal (VSS)	Wheel speed
Rear right wheel vehicle speed signal (VSS)	Wheel speed
Left front wheel speed signal for CC	Wheel speed
Right front wheel speed signal for CC	Wheel speed

Important data TO the ESP control module (N47-5) via CAN

CAN signal	Information	From control module
Engine status	Pedal value	Engine control module
Vehicle code	Model Version code Engine Transmission	Engine control module
Engine status	Engine rpm	Engine control module
Engine status	Indicated engine torque	Engine control module
Engine status	Maximum and minimum engine torque for current operational point	Engine control module
Engine status	Engine friction torque	Engine control module
Engine status	Engine torque as specified by driver	Engine control module
Transmission status	Transfer case control module off-road/highway gear	Electronic transmission control
Transmission status	Torque converter status	Electronic transmission control
Transmission status	Current transmission shift stage	Electronic transmission control