If the steering wheel is not properly centered

Make the necessary adjustments by checking wheel alignment.
See SPECIFICATIONS & PROCEDURES .
- If the steering geometry has to be checked, center the steering as instructed by electronic wheel alignment equipment (i.e. set front wheels accurately to straight-ahead position).
- Now perform zero position compensation. See HYDRAULIC PUMP FOR TRACTION CONTROL -V156-, ACTIVATING .
- Take care not to move the steering wheel from this point onward.
Do not switch off the ignition.
Connect VAS 5051 vehicle diagnostic, testing and information system or VAG 1551 scan tool and select address word 03 for "Brake electronics". See VAG 1551 SCAN TOOL, CONNECTING AND ENTERING ADDRESS WORD .

Indicated on display

Fig 1: VAG 1551 Scan Tool Display - Select Function XX

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Press button -1- twice to select function "Login procedure".

Indicated on display:

Fig 2: VAG 1551 Scan Tool Display - 11 - Login Procedure

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Press -Q- button to confirm input.

Indicated on display:

Fig 3: VAG 1551 Scan Tool Display - Enter Code Number XXXXX

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Enter code number 40168 and confirm entry with -Q- button.

Indicated on display

Fig 4: VAG 1551 Scan Tool Display - Select Function XX

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Press buttons -0- and -4- to select function "Basic setting".

Indicated on display:

Fig 5: VAG 1551 Scan Tool Display - 04 - Basic Setting

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Press -Q- button to confirm input.

Indicated on display:

Fig 6: VAG 1551 Scan Tool Display - Enter Code Group Number XXX

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Press buttons -0-, -0- and -1-.
Press -Q- button to confirm input.

If Fig 7 display appears, this means the function "Login procedure" has not been performed successfully.

Fig 7: VAG 1551 Scan Tool Display - Function Unknown Or Not Carried Out At Moment

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Indicated on display:

Fig 8: VAG 1551 Scan Tool Display - System In Basic Setting, Steering Angle Sender OK

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Check zero position via Function 08 "Read Measuring Value Block". See READ MEASURING VALUE BLOCK (FUNCTION 08) , READ MEASURING VALUE BLOCK: DISPLAY GROUP 5 .

Or:

Indicated on display:

Fig 9: VAG 1551 Scan Tool Display - System In Basic Setting, Steering Angle Sender Not OK

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Check DTC Memory. See ESP DIAGNOSTIC TROUBLE CODE (DTC) MEMORY, CHECKING .
Erase DTC memory. See ERASING DTC MEMORY .
Switch off ignition.
Switch on ignition.
Perform zero position compensation once again.
Go to start position of program by pressing --> button:

Indicated on display

Fig 10: VAG 1551 Scan Tool Display - Select Function XX

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Or:

Indicated on display:

Fig 11: VAG 1551 Scan Tool Display - System In Basic Setting, Steering Angle Sender Blocked

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You have forgotten to turn the steering wheel one turn to the right and one turn to the left.

Switch off ignition.
Switch on ignition.
Perform zero position compensation once again.
Go to start position of program by pressing --> button:

Indicated on display

Fig 12: VAG 1551 Scan Tool Display - Select Function XX

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Courtesy of AUDI OF AMERICA, INC.