Unfortunately errors to do with the ESP system are not always that simple to determine as the data is collected from various components like the wheels sensors the engine ECU the Power Steering ECU, Steering Angle and Yaw sensors etc., and sent on to other systems.
The steering wheel angle sensor is contained within the electronic module in the steering wheel and has to be calibrated if the ESP unit is removed / replaced, but given that you are also saying you have incorrect speed readings from the wheel speed sensors when the vehicle is stationary, suggests that it is a data communication issue and that the data is garbled or not valid. I can't see that all these problems are down to the individual components, so would indicate to me a faulty ESP ECU or a CAN data communication wiring problem.
Given the apparent multiple I think it needs going to either a dealer or an experienced auto electrician for some detailed checks and to try and pinpoint the problem. I certainly wouldn't want to start changing parts until the underlying problem is determined.
| Fault Code: | C1638 61 |
| Description of Fault: | Steering wheel angle information: Incorrect value.
Description of the diagnostics: Possibility 1
- With steering wheel angle sensor: Fault detected if the steering angle sensor is not initialised or calibrated.
- The fault immediately appears.
Possibility 2
- No steering angle sensor: Fault detected if the value for the centre of the steering wheel is lost as a result of prolonged operation.
Conditions of activation of the diagnostics:
Possibility 1
- Ignition on
Possibility 2
- Vehicle speed higher than 48 km/h |
| Conditions for Fault to clear: | Steering angle sensor calibrated |
| Downgrade Modes whilst Fault is active: | Deactivation of the ESP function |
| Symptoms: | - Switching on of the ABS/ESP/EBFD warning lamps with/without error message
|
| Suspect Areas: | - Electric power steering
- ABS/ESP ECU
|
| Fault Code: | U1213 |
| Description of Fault: | Fault in communication between the electric power steering (DAE) ECU and the ABS/ESP ECU.
Description of the diagnostics:
Possibility 1
- Steering wheel angle absolute value above the maximum threshold
- The time for recording the fault code is 200 milliseconds
Possibility 2
- Longitudinal acceleration calculated at the front wheels not valid
- The time for recording the fault code is 200 milliseconds
Possibility 3
- Lateral acceleration below the minimum threshold or above the maximum threshold
- The time for recording the fault code is 1000 milliseconds
Possibility 4
- Vehicle yaw speed below or above the threshold
- The time for recording the fault code is 1000 milliseconds
Possibility 5
- Speed of the front left wheel higher than the vehicle speed
- Speed of the front right wheel higher than the vehicle speed
The time for recording the fault code is 1000 milliseconds
Possibility 6
- Speed of the rear left wheel higher than the vehicle speed
- Speed of the rear right wheel higher than the vehicle speed
The time for recording the fault code is 1000 milliseconds |
| Conditions for Fault to clear: | Ignition switched off and on again |
| Downgrade Modes whilst Fault is active: | - Active return of the steering wheel deactivated
|
| Symptoms: | - Steering too soft
- Loss of the semi-automatic parking assistance function
- Loss of the Stop and Start function
- Steering wheel return incorrect
- Steering stiff
- Noise in the power steering
|
| Suspect Areas: | - CAN network
- Connector
- Electrical harness
- ABS/ESP ECU
|
