Yaw Rate Sensor: Service and Repair

ESP-sensor unit G419, removing and installing

Removing

Note: ESP sensor consists of the following sensors: Transverse Acceleration Sensor G200 Rotation Rate Sensor G202 Longitudinal Acceleration Sensor G251 (only for all-wheel drive vehicles)

- Remove front passenger seat.
- Remove rocker panel trim (on passenger side) and lift carpet.
- Disconnect electrical connector - 2 -.





- Remove bolts - 4 -.
- Remove ESP-sensor unit G419 - 1 - upward and out.
- Pos. - 3 - seat crossmember

Arrow in illustration points in driving direction

Note:
^ The ESP sensor unit is susceptible to strong vibrations.
^ If the ESP sensor unit falls to the floor, its trouble-free function can no longer be guaranteed. The sensor unit must no longer be used.

Installing
Installation is in reverse order of removal, with special attention to the following:

- Calibrate Transverse Acceleration Sensor G200
- Calibrate Longitudinal Acceleration Sensor G251 (only all-wheel drive vehicles)
- Perform ESP driving and system tests.

Diagnostic Operation System VAS5051A.
- Under chassis
- Brake system
- 01- On Board Diagnostic (OBD) capable systems
- 03- Brake electronics ABS/ESP Mark 60 si
- J104- ABS/ASR/ESP Control Module, Functions

For this, use the Diagnostic Operation System VAS5051A.
- Under chassis
- Brake system
- 01- On Board Diagnostic (OBD) capable systems
- 03- Brake electronics ABS/ESP Mark 60 si
- Calibrate Transverse Acceleration Sensor G200
- Calibrate Longitudinal Acceleration Sensor G251 (only all-wheel drive vehicles) Diagnostic Operation System VAS5051A
- Connect Diagnostic Operation System VAS5051A and select function

Torque Specification: