ABS ESP Faults

[gtfc74]

Hi Guys. My 2005 W203 C200k Coupe has developed the dreaded ABS, ESP warnings. I've scanned the car on 2 occasions in the past 2 weeks with a nice list of faults which include:

P1860 right rear Wheel speed sensor - implausable signal.
202A CAN message from TCM - incorrect speed from rear left RPM sensor.
C1130 right rear speed sensor - line monitoring intermittent.
C1131 right rear wheel speed sensor - pulse gear intermittent.
C1132 right rear wheel speed sensor - faulty signal - intermittent.
C1707 internal fault
2029 mixture adaptation lower limit reached - intermittent.
203B ECM random code lost - intermittent.
B1650 CAN com fault - DCM - FL.
ENM203 Gear selector.
P2500 impermissable transmission ratio.

The rear ABS sensors have both been changed.
I slaved in a borrowed ESP module and it changed nothing.
I saw on the forums that failing batteries can cause issues so I charged up the battery and it read 12.6v initailly falling to 12.4 a few minutes later. With the car running I just get 13.7v so on the face of it its ok but it looks like the original battery.
My gut feeling is the battery or a module given the amount of faults but any help much appreciated.

Cheers.

Craig.

 

[Smart320]

Would certainly bet on your battery, especially if it's the original

 

[HITECH]

Your battery, or brake light switch. when i had this happen i ran the dyno workshop mode to calibrate the abs/esp which involves a drive doing a sequence of turning. it put my abs light out. I still have to line up and calibrate properly my steering wheel lateral centre sensor after the steering wheel being slightly off centre after the whole front suspension being changed out. ESP warning will come on and off until i do this.

 

[gtfc74]

Tried to scan again this morning and got 2 new codes:
C1210 Terminal 30 undervoltage
201C
I had the jump leads connected to my other car but it made no difference.
I saw a couple of posts about brake light switch so might be worth changing it.

 

[gtfc74]

Your battery, or brake light switch. when i had this happen i ran the dyno workshop mode to calibrate the abs/esp which involves a drive doing a sequence of turning. it put my abs light out. I still have to line up and calibrate properly my steering wheel lateral centre sensor after the steering wheel being slightly off centre after the whole front suspension being changed out. ESP warning will come on and off until i do this.

Just had the facia panel out and I have no brake light switch. I did read something about a BAS switch on the servo. Never simple is it lol!

 

[gtfc74]

Think I have fixed it.
I checked the connector block in the boot where the ABS sensors connect and both left and right had corrosion. Cleaned it up and managed to clear all the codes. The light and dash messages have gone but I guess it will need a while to be sure.