ABS AUDI A4 2000 B5 / 1.G Brakes ESP Bosch 5.3 Workshop Manual

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
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yp
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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
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play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-219

Sensor for transverse acceleration -G200-
The sensor for transverse acceleration transmits
the values of lateral acceleration (cornering
force) to the ABS control module -J104 for
ABS/ASR/ESP. After replacing the control
module or the sensor, a zeroing must be
performed. For malfunctioning sensor, the ESP
function is not available.

Sender for rotation rate -G202-
The sender for rotation rate collects data, so-
called yaw moments or rotation rates, that
attempt to spin the vehicle on the vertical axis
and it sends these to control module -J104- for
ABS/ASR/ESP. For malfunctioning sensor, the
ESP function is not available.

Sender 1 for brake booster -G201-
The brake pedal position sensor recognizes the
current brake pressure in the brake circuit and
sends this data to the ABS control module
(w/EDL) -J104-. From this, the control module
calculates the wheel braking powers and
therefore the vertical forces affecting the vehicle.
If the sensor fails, the ESP function is not
available.
Pa
ge 3 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

01-222

Warning light functions, overview


If On Board Diagnostic (OBD) has detected a
malfunction in the system, it indicates the
malfunction by lighting up warning lamps when
ignition is switched on. The warning lamps are
located in the instrument cluster.

Instrument cluster without DIS
The illustration shows the ABS/EDL warning light -K47- (right arrow),
the warning light for brake system -K118- (center arrow, red symbol
for "brake system malfunction") and the traction control indicator light -
K86- (left arrow).

Instrument cluster with DIS
Repair manual, Brake System, Repair Group 46

For DIS, there is no warning light for brake system -K118-. The red
"brake system malfunction" symbol appears in the display. If the ABS/EDL warning light -K47 and the red symbol for "Brake
system malfunction" are not lit, but the brake system is not functioning
properly, check for malfunctions in the mechanical/hydraulic brake
system components.
Pa
ge 6 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

01-223

"Brake
malfunction"
symbol ABS/EDL
warning light
-K47- Traction control
indicator light
-K86- Possible reasons why the indicator lamps light up
off off off
All indicator lights go out after the self-test (approximately three
seconds after the ignition is switched on). All systems are OK.
Pay attention to the notes on the next page
off off blinking ASR/ESP is in adjustment mode. The ASR/ESP indicator light
blinks approximately 3 times per second.
Pa
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gram
(ESP
) Bosch 5.3
11/20/2002 htt
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play?action=Goto&t
yp
e=re
pair&id=AUDI.B5.SU02.01.14

01-224

"Brake
malfunction"
symbol ABS/EDL
warning
light
-K47- Traction
control
indicator
light
-K86- Possible reasons why the indicator lamps light up
off on on
A self-test is performed after the ignition is switched on. If all systems
are OK, warning lights, the ABS warning light -K47- and traction
control indicator light -K86- go out after approximately three seconds.
If the indicator lamps do not light up, check the relevant lamps carry
out "Electrical Test", steps 17 and 19. The possible causes are as
follows:

Electrical Wiring Diagrams, Troubleshooting & Component Locations
Repair Manual, Electrical Equipment, Repair Group 90.



The battery voltage is insufficient. None of the lamps in the instrument
cluster light up. Check the battery. The ABS warning light -K47- does not light up during the self-test. There
is a short to Ground (GND) in the wiring that controls the ABS/EDL
warning light between terminal 32 of the ABS control module -J104- and
the instrument cluster. This malfunction does NOT influence the control
of the traction control indicator light.
Pa
ge 9 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

The traction control indicator light -K86- does not light up during the self-
test; carry out "Electrical test", step 19.This malfunction does NOT
influence the control of the ABS warning light.
Pa
ge 10 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

01-226

"Brake
malfunction"
symbol ABS/EDL
warning
light
-K47- Traction
control
indicator
light
-K86- Possible reasons why the indicator lamps light up
off on on
Also observe notes on the next page.
The indicator lights did not go out after the self-test. However, the red
"brake system malfunction" symbol did not go on. The On Board
Diagnostic recognized a malfunction, which deactivated the
ABS/EDL/ASR/ESP. However, the "Electronic Brake Distribution" (EBD)
remained activated. Check DTC memory page 01
-356
.
The ESP driving test may have been activated page 01
-250
Check the voltage supply for the red "brake system malfunction" symbol.
Carry out "Electrical test", step 18. If the control is malfunctioning, see
the next example for lighted indicator lights. During the last drive, a dynamic malfunction of the wheel speed sensor
occurred or a malfunction in the ABS return flow pump -V39- occurred.
In this case, the indicator lights automatically go off after the vehicle is
started, and has exceeded a speed of 2.75 km/h or a check of the return
flow pump indicated it is OK.
Pa
ge 12 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

01-227

"Brake
malfunction"
symbol ABS/EDL
warning
light
-K47- Traction
control
indicator
light
-K86- Possible reasons why the indicator lamps light up
off on on
Continuation from preceding page.
A DTC is stored in the DTC memory the first time the vehicle exceeds 6
km/h, if the voltage supply to the ABS control module -J104- is between
7 and 10 volts and the indicator lights go on. If during the drive, the
voltage supply to the ABS control module -J104- exceeds 10 volts, the
indicator light go out. The DTC remains in the memory. "Check DTC
memory" page 01
-356
.
off on off
The ESP driving test was not completed; page 01
-250
Pa
ge 13 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