14

Yaw Rate Sensor (N64)

Hollow cylinder vibrates by
means of piezo elements
Vibration patterns change due to
rotary motion of vehicle
Changes are used as a measure
of Yaw rate of the vehicle
Measuring element:
Yaw: to turn around the vertical axis
15
Combined Lateral Acceleration & Yaw Rate
Sensor (B24/15)
Location shown on 211 chassis
When this component is replaced, adaptation must be performed.
(refer to WIS: AD42.45-P-3000-2A)
Senses rotational speed of the
vehicle about the vertical axis and
the lateral acceleration.
16
Stop Lamp Switch (S9/1)
Two position switch:
N.O. and N.C.
It is self-adjusting
(NOTE: be sure to pull it
all the way out before
installing.)
17
Stop Lamp Switch Service Note
ESP fault codes C1200, C1201, C1202 may be set if the stop lamp
switch is misadjusted (implausible signal as compared to BAS
diaphragm travel sensor input)
Check switch voltage supply
Ensure correct switch part number is installed
Adjust as per DTB 33/00 (5-26-00)
18
CAN Communication
CAN communication with:
ME-SFI
(for torque reduction)
ETC - Electronic Transmission Control
(utilized for calculation of the ESP regulation)
19
Six ESP Control Modes
1. Normal mode
2. ABS mode (pressure holding and reduction)
3. ASR mode (pressure build up, holding, and reduction)
4. EBR mode (slight throttle opening)
5. ESP OFF mode (switches off throttle control)
6. ESP mode (pressure build up, holding, and reduction)
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y19
y22
y18
ESP Pressure Build Up
BAS applies
~5bar pressure
(Note: brake light
suppression relay
activated)
y18,y19 close
m1 activated
y22 opened
y6 closed
Example:
Right front wheel
requires braking
21
ESP Pressure Holding
Example:
Right front wheel
y22 closed,
preventing
pressure build up
22
ESP Pressure Reduction
Example:
Right front wheel
y18 is opened
Pressure
returned to the
master cylinder
23
Diagnosing Included ESP Functions:
ABS Anti-lock Brake System
ASR Acceleration Slip Regulation
EBR Engine Braking Regulation
EBD Electronic Brake Force Distribution
ETS Electronic Traction System
ESP Electronic Stability Program
BAS Brake Assist System
4ETS 4MATIC
Pre-ESP
systems
Post-ESP
systems
To diagnose a function contained within ESP using DAS,
you may have to begin at the ESP menu.
24
Other Functions Related to ESP
PML (SPS) Speed Sensitive Steering
CAN communication
Electronic Accelerator (EA) intervention
Electronic Transmission Control (ETC)
intervention
Sensotronic Braking Circuit
Distance (DTR)
Airmatic, ABC, SAS suspension
25
ESP Block Diagram
Front VSS
Terminal 61
Stop lamp switch
Data Link (X11/4)
CAN-C (VSS)
Rear VSS
Circuit 31
Power
N47/
Return pump Relay
K40/
Hydraulic control
unit A7/
Parking Brake sw. ESP warning lamp
ESP MIL
ABS MIL
Lateral Sensor
Steering Angle
Pressure Sensor
Yaw Sensor