Functional check of ESP yaw rate and lateral acceleration sensor - AD42.45-P-3000-01A

Model 168 as of 01.03.99 with Code (472a) 

Model 202, 208, 210 as of 01.06.00 with CODE (472a) 

	The test described in the following on the yaw rate and lateral acceleration sensor (B24/15)  is only to be performed after exchanging  the component.
	How to proceed	Notes
1	Activate test:  Connect diagnosis tool and activate function test under the menu item " Control unit adaptations - yaw rate and lateral acceleration sensor", then finish the diagnosis session and disconnect the diagnosis tool.	Engine RUNNING  The BAS/ESP malfunction indicator lamp (A1e47)  and the ABS malfunction indicator lamp (A1e17)  come on once the test has been activated.
2	Standstill adjustment of yaw rate and lateral acceleration sensor (B24/15) and test of ESP brake pressure sensor (B34):  Vehicle is stationary, set steering to the straight-ahead position. Operate the ESP OFF switch in the "ON" position. Then press the brake pedal vigorously (brake pressure > 35 bar) and keep pressed for a short time. Then operate the ESP OFF switch again.	A time window of 20 seconds is started by operating the ESP OFF switch; this can be extended arbitrarily by operating the switch again. The test was successful when the BAS/ESP indicator lamp (A1e47)  goes out. In the case of a fault:  read out fault memory
3	Dynamic test of yaw rate and lateral acceleration sensor (B24/15):  Drive vehicle forward at speed of approx. 10 km/h.  Introduce cornering after a few meters (left or right, steering wheel angle not more than 360 °) and a quarter circle, then countersteer briefly.	If the vehicle first has to be moved backwards for maneuvering, immediately before the start of the test (driving forwards) the ignition is first to be switched off again and then on again. The test was successful when the ABS indicator lamp (A1e17)  goes out. In the case of a fault:  Read out fault memory