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| General information on change to parameters for ESP(R) closed-loop control after vehicle modification
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| AH42.45-N-0002-01A
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| Update Vehicle Documentation (VeDoc)
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1
| Print out and fill out form for liability disclaimer.
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| OF00.00-W-3000-10A
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2
| Document conversion scope, relevant service codes and, where applicable, the number of the certificate of non-objection (CNO) in VeDoc.
| The scope of modification to be documented can be found in the liability disclaimer.
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| Parameterization
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3
| Connect diagnostic system and start XENTRY.
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4
| Perform initial quick test.
| The initial quick test is saved until the end of the diagnosis session as an initial quick test.
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5
| Delete fault memory in all the control units.
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6
| Change parameter "Wheelbase".
| Only if the wheelbase had been changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Wheelbase
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7
| Change parameter "Car transporter".
| Only if the vehicle had been modified for operation as car transporter.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Car transporter (semitrailer tractor)
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8
| Change parameter "Car transporter anti-swerve brake".
| Only if the vehicle had been modified for operation as car transporter and an anti-swerve brake was installed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10b (Electronic brake system (EBS) control unit)
Car transporter anti-swerve brake
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9
| Change parameter "Vehicle type".
| Only if the vehicle type was changed (e.g. when a dumper vehicle is converted to a platform truck).
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Vehicle model
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10
| Change parameter "Transmission model".
| Only if the transmission model was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Transmission model
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11
| Change parameter "Retarder".
| Only if the retarder model was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Retarder
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12
| Change parameter "Suspension type for axles 1 to 4".
| Only if the suspension type on axles 1 to 4 was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A2 (Central gateway (CGW) control unit)
Axle 1 to 4 suspension type
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13
| Change parameter "Center of gravity height".
| Only if the center of gravity height was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10b (Electronic brake system (EBS) control unit)
or
A10c (Electronic brake system (EBS) control unit)
Height of vehicle's center of gravity
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14
| Change parameter "Trailer operation with semitrailer tractor".
| Model 963, 964 except code S1E (ESP for trailer operation with semitrailer tractors)
Only if a trailer hitch had been mounted in addition to the existing fifth wheel coupling.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10b (Electronic brake system (EBS) control unit)
or
A10c (Electronic brake system (EBS) control unit)
Trailer operation with semitrailer tractor
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15
| Change parameter "Auxiliary stabilizer".
| Only when an auxiliary stabilizer was fitted to the rear axle or the trailing axle.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10c (Electronic brake system (EBS) control unit)
Auxiliary stabilizer
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16
| Change parameter "Distance between axles 2 and 3".
| Only if the distance between axles 2 and 3 was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10b (Electronic brake system (EBS) control unit)
Distance between axles 2 and 3
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17
| Change parameter "Distance between axles 3 and 4".
| Only if distance between axles 3 and 4 was changed.
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| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
A10b (Electronic brake system (EBS) control unit)
Distance between axles 3 and 4
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18
| Complete parameterization procedure.
| To do so, select following menu items:
Special functions
Change parameters for ESP® control with special ESP® authorization after vehicle conversion
Manually change parameters for ESP® control after vehicle modification
Complete process.
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| After the required teach-in run, print out event log of teach-in process.
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19
| Perform final quick test; print out initial quick test and final quick test.
| There must be no fault codes in the control units being updated.
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| If fault codes are still present in control units being updated,
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| then process the fault codes.
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| After obtaining special order.
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20
| End XENTRY and remove the diagnostic system.
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21
| Store available documents and printouts in a tamperproof manner.
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