ESP operational check yaw rate sensor - AD42.45-P-3000-03A

Model 163 as of 01.00 with Code (472a) 

	The road test described below must be performed only after the following components have been replaced : lateral acceleration sensor  and/or the yaw rate sensor	This road test can prevent the following types of faults: Mixing up sensor connections Mixing up the respective wiring of the sensors Sensors with an implausible signal
	How to proceed	Notes
1	Activate test:  Initiate the road test using the diagnostic tool.	Engine runs.  The test remains active even if the ignition is turned "ON" or "OFF". The road test is only terminated by either passing the test or if the test is deactivated using the diagnostic tool. The BAS/ESP malfunction indicator lamp (A1e47)  and the ABS malfunction indicator lamp (A1e17)  come on once the test has been activated. Driver signaling: ABS: On ESP: Off  After initiating the test, the ESP is switched off while the BAS, ABS, ETS, and ASR functions remain active. The diagnosis "Road test active" is entered in the diagnostic trouble code memory. This entry is deleted automatically once the road test is complete.
2	Standstill comparison of the lateral acceleration sensor and/or the ESP yaw rate sensor:  Set ESP switch to "ON"  Vehicle is stationary, set steering to the straight-ahead position.	A time window of 20 seconds begins when the ESP switch is actuated. This window can be extended as required by actuating the switch again. The BAS/ESP malfunction indicator lamp (A1e47) begins to flash to indicate that the standstill comparison of the ESP yaw rate sensor was started. The BAS/ESP malfunction indicator lamp (A1e47) comes on when the test has been successfully completed. The vehicle should now be driven on the test drive described in point 3. If the vehicle is moved during this test, the standstill comparison does not start. The BAS/ESP malfunction indicator lamp (A1e47) comes on. If a fault occurs: Read out DTC memory
3	Dynamic test of the lateral acceleration sensor and/or the yaw rate sensor:  Drive the vehicle forwards  in the speed range of 5 to 25 km/h. After a few meters, turn the vehicle around a corner in the same speed range (left or right, steering wheel angle no greater than 360°) and drive in a quarter circle.	The ESP control module (N47-5) evaluates the turn rate and lateral acceleration signals. The malfunction indicator lamps extinguish once the evaluation has been successfully completed. If a fault occurs:  The ABS malfunction indicator lamp (A1e17) comes on : road test not successful. Repeat the dynamic test (3). The BAS/ESP malfunction indicator lamp (A1e47) comes on. Road test not successful. Read out DTC memory