2000 AUDI A4 steering

01-217


Electronic Stabilization
Program (ESP) Bosch 5.3
The Electronic Stabilization Program (ESP) is a
driving dynamics regulation system. It stabilizes
the vehicle both in understeer and oversteer
situations.

ESP is an additional extension of the well-
known driving safety systems ABS/EDL and
ABS/EDL/ASR.
ESP increases the ability to control the vehicle
during critical driving situations. It reduces the
likelihood of skidding relative to the well-known
safety systems and improves steering control.

It can only function within physical limits.
Pa
ge 1 of 27 Electronic Stabilization Pro
gram
(ESP
) Bosch 5.3
11/20/2002 htt
p://127.0.0.1:8080/audi/servlet/Dis
play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-218

ESP system sensors and components,
description


Control module for ABS with EDL/ASR/ESP -
J104-
The control module is combined with the
hydraulic unit as one unit. It controls the ESP,
ABS, EDL, ASR, EBD and ETR (Engine Torque
Reduction) functions. When ignition is switched
on, the control module performs a self-test. All
electrical connections are monitored constantly
and the solenoid valves are periodically checked
for function. If the control module fails entirely,
only the normal brake system will be available.

Steering angle sensor -G85-
The steering angle sensor is housed together
with the airbag spiral spring/return spring with
slip ring. It is located on the steering column
between the steering column switch and steering
wheel. It transmits the steering wheel's steering
angle to the ABS control module -J104 for
ABS/ASR/ESP via the CAN-bus. After replacing
the control module or the sensor, a zeroing must
be performed. For malfunctioning sensor, the
ESP function is not available.
Pa
ge 2 of 27 Electronic Stabilization Pro
gram
(ESP
) Bosch 5.3
11/20/2002 htt
p://127.0.0.1:8080/audi/servlet/Dis
play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-221

Examples:

During oversteering, the rear of the vehicle breaks out toward the outside
of the curve. The vehicle rotates more on its vertical axis than required to
maneuver through the curve. Braking the outside front wheel counters the
oversteering effect.

In understeering, it is the front of the vehicle that does not follow the
curve. The front of the vehicle breaks out. The vehicle rotates less on its
vertical axis than is required to maneuver through the curve. By braking
the rear inside wheel, the braking force generated intensifies the rotational
movement of the vehicle.
Component locations (except for new components) are the same as for
the Bosch 5.3 components. The procedures for removal and installation of
the components are found in:
Repair manual, Brake System, Repair Group 45

Pa
ge 5 of 27 Electronic Stabilization Pro
gram
(ESP
) Bosch 5.3
11/20/2002 htt
p://127.0.0.1:8080/audi/servlet/Dis
play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-225

"Brake
malfunction"
symbol ABS/EDL
warning
light
-K47- Traction
control
indicator light
-K86- Possible reasons why the indicator lamps light up
off off off

There is an irregularity. The indicator lamps go on during the self-
test and then go out. The possible causes are as follows: The voltage supply for the ABS control module -J104- is between
7 and 10 volts and the vehicle speed is < 6 km/h. Carry out
"Electrical test", step 21. The DTC "01119 gear recognition signal" is stored in the DTC
memory. Check DTC memory page 01
-356
.
The signal indicating whether the parking brake is set or released
is not being sent to the ABS control module -J104-. "Read
measuring value block" function 08 page 01
-256
, display group
2 page 01
-261
.
Check the brake light switch -F-. "Read measuring value block"
function 08 page 01
-256
, display group 2 page 01
-261
.
Check the zero position of the steering angle sensor -G85-. "Read
measuring value block" function 08 page 01
-256
, display group
5 page 01
-270
.
Pa
ge 11 of 27 Electronic Stabilization Pro
gram
(ESP
) Bosch 5.3
11/20/2002 htt
p://127.0.0.1:8080/audi/servlet/Dis
play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-234

Code Control Module (function 07)


After installing a new ABS control module
(w/EDL) -J104- or a new steering angle sensor
-G85-, the ESP system must be coded again.
After the coding, the steering angle sensor
must be calibrated.
The coding of the ESP control module is used for
adaptation of the control module to the vehicle.
Coding is only possible if a dealership number is
stored in the VAG1551 scan tool.

Note:
If the control module is coded with code 00000 or
with a code that does not match the vehicle, the
ABS warning light -K47- and the traction control
indicator light -K86- remain continuously lit, and
the DTC 01044 - Control module incorrectly
coded - is stored in DTC memory of the control
module.
Before the control module can be coded, "Login
Procedure" function 11 must be successfully
carried out using the VAG1551/1552 scan tool.
Pa
ge 20 of 27 Electronic Stabilization Pro
gram
(ESP
) Bosch 5.3
11/20/2002 htt
p://127.0.0.1:8080/audi/servlet/Dis
play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14