ABS ESP faults after cruise control retrofit

Hi!
I was retrofitting a cruise control on my A3 8PA MY2006, did everything according to a guide from this forum. I had an old steering wheel control module 1K0 953 549 AF which I have swapped for a AH model that was previously in the VW Jetta and which is the one that should work properly according to the stalk instructions. We assembled everything together and with my friend we have coded the steering module and the engine part in the VCDS.

After we started the engine there were numerous faults and lights lit on the dash, Cruise is working just as expected however there was no power steering, and we were not able to get rid of the ABS and ESP errors. We have tried coding the ABS/ESP according to this procedure, went for a test drive but the errors didn't clear. We have tried disconnecting the battery for half an hour however it did not help either.

With no further ideas we went home and just as as I was turning around and parking in the driveway the power steering gave way miraculously in which moment I thought I have broken something so I stopped the engine and started again and the fault didn't come up again, went for a short test drive around city and it seems OK now, however the ABS and ESP lights are still on.

I don't have a VAGCOM with me so I cant check the errors now, what I an give you is a list of ones we got earlier. If any of you fellas would be willing to look into it I would be more than happy to try it out to get rid of those errors.
The vagcom log is in Slovak, sorry, I have highlighted the error codes and tried to provide as close translation as I was capable of. Hopefully it makes some sense to you.

Any ideas are sincerely welcomed. Thank you!

Please ignore the auxiliary heating error, didn't have time to fix it, and since it is not that crucial I keep postponing it all the time

The log:

VCDS -- Windows VAG/VAS Emulator
VCDS verze: SVO 12.12.2.0
Verze dat: 20131014




VIN: WAUZZZ8P76A064202 Výrobní štítek:
Kilometry: 201580km Číslo zakázky::


--------------------------------------------------------------------------------
--------------------------------------------------------------------------------


Model: 8P (1K0)
Sken: 01 03 08 09 15 16 17 19 25 42 44 46 47 52 55 56 62 69 72 7D



VIN: WAUZZZ8P76A064202 Kilometry: 201580km


00-Snímač úhlu rízení -- stav: OK 0000
01-Motor -- stav: OK 0000
03-ABS brzdy -- stav: Nefunkční 0010
08-Klima/topení -- stav: Nefunkční 0010
09-Centrální elektrika -- stav: OK 0000
15-Airbagy -- stav: OK 0000
16-Elektronika volantu -- stav: OK 0000
17-Přístrojová deska -- stav: OK 0000
19-CAN Gateway -- stav: OK 0000
25-Imobilizér -- stav: OK 0000
42-El. dveří řidiče -- stav: OK 0000
44-Posilovač řízení -- stav: Nefunkční 0010
46-Komfort systém -- stav: OK 0000
47-Audio soustava -- stav: OK 0000
52-El. PP dveří -- stav: OK 0000
55-Reg.sklonu Xenonů -- stav: OK 0000
56-Rádio -- stav: OK 0000
62-El.LZ dveří -- stav: OK 0000
69-Funkce přívěsu -- stav: OK 0000
72-El.PZ dveří -- stav: OK 0000
7D-Přídavné topení -- stav: Nefunkční 0010

-------------------------------------------------------------------------------
Adresa 01: Motor Labely: User\03G-906-016-BKC.clb
Řídící jednotka SW: 03G 906 016 CC HW: 028 101 183 2
Díl: R4 1,9L EDC G000SG 6231
Revize: 12345678 Seriové číslo: AUX7Z0E8FN208M
Kódování: 0000071
Dílna #: WSC 06435 000 00000
VCID: 66C7D91B51BB6F2E01B-8033


Nenalezena žádná chyba.
Readiness: 0 0 0 0 0


-------------------------------------------------------------------------------
Adresa 03: ABS brzdy Labely: User\1K0-907-379-MK60-F.clb
Řídící jednotka SW: 1K0 907 379 Q HW: 1K0 907 379 Q
Díl: ESP FRONT MK60 0102
Revize: 00T12001
Kódování: 0021128
Dílna #: WSC 06435 000 00000
VCID: 408B2F83135F611EDB7-8015


3 faults found.
01309 - Power Steering Control Module (J500):
008 - Implausible Signal - Sporadic
01044 - Control Module Incorrectly Coded
003 - Mechanical error
01486 - System Function Test activated
000 - -


-------------------------------------------------------------------------------
Adresa 08: Klima/topení Labely: User\8P0-820-043.clb
Řídící jednotka SW: 8P0 820 043 J HW: 8P0 820 043 J
Díl: KlimavollautomatH17 0200
Revize: 069408 Seriové číslo: 8P0820043J
Dílna #: WSC 06435 000 00000
VCID: 3361704F52E9CA86565-8066


1 nalezena chyba:
00483 - ridici jednotka pro pomocne topeni
013 - prosim; prectete pamet chyb
info o závadě:
Stav závad: 01101101
Priorita závad: 3
Frekvence závad: 1
Počítadlo resetů: 213
Kilometry: 0 km
Indikace času: 0


info o závadě:
ZAP




-------------------------------------------------------------------------------
Adresa 09: Centrální elektrika Labely: 8P0-907-279-23-H.lbl
Řídící jednotka SW: 8P0 907 279 F HW: 8P0 907 279 F
Díl: Bordnetz-SG H36 1201
Revize: 00H36000 Seriové číslo: 00000002181767
Kódování: F18A5F009614100000160000160000000009FE175A0500
Dílna #: WSC 06314 123 08192
VCID: 408B2F83135F611EDB7-8015


Subsystém 1 - Řídící jednotka: 8P1 955 119 B Labely: SVO\1KX-955-119.CLB
Díl: Wischer AU350 H01 0130
Kódování: 00062736
Dílna #: WSC 06314


Subsystém 2 - Řídící jednotka: 4E0 910 557 Labely: SVO\8K0-955-559.CLB
Díl: REGENLICHTSENSORH10 0050
Kódování: 00141886
Dílna #: WSC 06314


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 15: Airbagy Labely: User\8P0-959-655-94.clb
Řídící jednotka SW: 8P0 959 655 C HW: 8P0 959 655 C
Díl: Airbag 9.41 H12 3760
Revize: 91H12376 Seriové číslo: 003620049UNY
Kódování: 0073622
Dílna #: WSC 06435 000 00000
VCID: 428F258B1D53730ECD3-8017


Subsystém 1 - Seriové číslo: 6332DRB4021BCFAA1


Subsystém 2 - Seriové číslo: 6342DRB4021B92AEX


Subsystém 3 - Seriové číslo: 63528RB400A6E6AB.


Subsystém 4 - Seriové číslo: 63628RB400A6EDEC7


Subsystém 5 - Seriové číslo: 63729RB400A62B93O


Subsystém 6 - Seriové číslo: 63829RB400A63C78U


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 16: Elektronika volantu Labely: 1K0-953-549-MY8.lbl
Řídící jednotka SW: 1K0 953 549 AH HW: 1K0 953 549 AH
Díl: J0527 034 0070
Kódování: 0000042
Dílna #: WSC 00066 000 00000
VCID: 78FB87630B0FE9DEA37-802D


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 17: Přístrojová deska Labely: 8P0-920-xxx-17-MY7.lbl
Řídící jednotka SW: 8P0 920 930 R HW: 8P0 920 930 R
Díl: KOMBIINSTR. VDO H80 0410
Revize: D03 Seriové číslo: 2248ED03028285
Kódování: 0004043
Dílna #: WSC 67865 141 104311
VCID: 418D2A8718556816D49-8014


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 19: CAN Gateway Labely: SVO\1K0-907-530-V1.clb
Řídící jednotka SW: 1K0 907 530 F HW: 1K0 907 951
Díl: Gateway H10 0120
Revize: H10 Seriové číslo: 28001058208400
Kódování: 7D3F4B42072102
Dílna #: WSC 06435 000 00000
VCID: 2A5F6D2B85238B4EE53-807F


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 25: Imobilizér Labely: SVO\1K0-920-xxx-25.clb
Řídící jednotka SW: 8P0 920 930 R HW: 8P0 920 930 R
Díl: KOMBIINSTR. VDO H80 0410
Revize: D03 Seriové číslo: AUX7Z0E8FN208M
Dílna #: WSC 00000 000 00000
VCID: 418D2A8718556816D49-8014


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 42: El. dveří řidiče Labely: 8P0-959-801-MAX1.lbl
Řídící jednotka: 8P0 959 801 F
Díl: Tuersteuerger. H10 0040
Kódování: 0000048
Dílna #: WSC 06435 000 00000
VCID: 3E77517B69AB17EEA9B-806B


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 44: Posilovač řízení Labely: SVO\1Kx-909-14x-44.clb
Řídící jednotka: 1K1 909 144 J
Díl: EPS_ZFLS Kl.5 D04 1606
Dílna #: WSC 00000 000 00000
VCID: 326F754BADF3C38E5D3-8067


2 faults found.
02546 - Steering Limit Stop:
005 - No or Incorrect Basic Setting / Adaptation
fault info:
Km: 1560 km
Temperature: 50.0*C
Voltage: 13.90 V
Voltage: 13.70 V
00778 - Steering Angle Sensor (G85)
000 - -




-------------------------------------------------------------------------------
Adresa 46: Komfort systém Labely: 8P0-959-433.lbl
Řídící jednotka: 8P0 959 433 E
Díl: KSG H04 0050
Kódování: 188000586D6D8505488F016300
Dílna #: WSC 67261 141 62895
VCID: 3E77517B69AB17EEA9B-806B


Subsystém 1 - Díl: Sounder n.mounted


Subsystém 2 - Díl: NGS n.mounted


Subsystém 3 - Díl: IRUE n.mounted


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 47: Audio soustava Labely: 8Px-035-382.lbl
Řídící jednotka SW: 8P4 035 382 HW: 8P4 035 382
Díl: AB2 SUBWOOFERBOXH04 0180
Revize: 00003 Seriové číslo: 30674525984025
Dílna #: WSC 00000 000 00000
VCID: F1ED3A47E8753896E49-80A4


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 52: El. PP dveří Labely: 8P0-959-802-MAX1.lbl
Řídící jednotka: 8P0 959 802 F
Díl: Tuersteuerger. H10 0040
Kódování: 0000048
Dílna #: WSC 06435 000 00000
VCID: 3F892C7F6EA11EE6A2D-806A


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 55: Reg.sklonu Xenonů Labely: User\8P0-907-357.clb
Řídící jednotka: 8P0 907 357 F
Díl: Dynamische LWR H01 0010
Revize: 00000001 Seriové číslo:
Kódování: 0000012
Dílna #: WSC 06314 000 00000
VCID: 3D75567764AD0CF6B01-8068


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 56: Rádio Labely: 8P0-035-1xx-56.lbl
Řídící jednotka SW: 8P0 035 186 C HW: 8P0 035 186 C
Díl: concert II EU H52 0100
Revize: 02S Seriové číslo: AUZ2Z3E2841802
Kódování: 0402001
Dílna #: WSC 67261 141 20846
VCID: 326F754BADF3C38E5D3-8067


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 62: El.LZ dveří Labely: 8P4-959-801.lbl
Řídící jednotka: 8P4 959 801 D
Díl: Tuer-SG 020 0060
Kódování: 0000144
Dílna #: WSC 06435 000 00000
VCID: 408B2F83135F611EDB7-8015


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 69: Funkce přívěsu Labely: 8P0-907-383.lbl
Řídící jednotka SW: 8P0 907 383 HW: 8P0 907 383
Díl: ANHAENGERELEKTR H01 0010
Kódování: 0000001
Dílna #: WSC 06435 000 00000
VCID: F6E7095B811B1FAE31B-80A3


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 72: El.PZ dveří Labely: 8P4-959-802.lbl
Řídící jednotka: 8P4 959 802 D
Díl: Tuer-SG 020 0060
Kódování: 0000144
Dílna #: WSC 06435 000 00000
VCID: 418D2A8718556816D49-8014


Nenalezena žádná chyba.


-------------------------------------------------------------------------------
Adresa 7D: Přídavné topení Labely: 1K0-963-235.lbl
Řídící jednotka SW: 1K0 963 235 E HW: 1K0 963 235 E
Díl: PTC-Element 0404
Revize: 00800000 Seriové číslo:
Dílna #: WSC 00000 000 00000
VCID: 2D556637B4CD9C76001-8078


1 nalezena chyba:
00361 - topne teleso pro pomocne topeni (Z35)
014 - defekt


Konec -------------------------------------------------------------------

We already did this twice, however it seemed to not help. But I might give it a one more shot since the power steering came to its senses.

I did the sensor calibration again as you suggested however the problems are still persisting. I have managed to get a new log from a different VCDS, English one this time. It says that the ABS module is incorrectly coded. Can you tell me what the correct coding would be?

log:
00-Steering Angle Sensor -- Status: OK 0000
01-Engine -- Status: OK 0000
03-ABS Brakes -- Status: Malfunction 0010
08-Auto HVAC -- Status: Malfunction 0010
09-Cent. Elect. -- Status: OK 0000
15-Airbags -- Status: OK 0000
16-Steering wheel -- Status: OK 0000
17-Instruments -- Status: OK 0000
19-CAN Gateway -- Status: OK 0000
25-Immobilizer -- Status: OK 0000
42-Door Elect, Driver -- Status: OK 0000
44-Steering Assist -- Status: OK 0000
46-Central Conv. -- Status: OK 0000
47-Sound System -- Status: OK 0000
52-Door Elect, Pass. -- Status: OK 0000
55-Xenon Range -- Status: OK 0000
56-Radio -- Status: OK 0000
62-Door, Rear Left -- Status: OK 0000
69-Trailer -- Status: OK 0000
72-Door, Rear Right -- Status: OK 0000
7D-Aux. Heat -- Status: Malfunction 0010

-------------------------------------------------------------------------------
Address 01: Engine Labels: 03G-906-016-BKC.lbl
Part No SW: 03G 906 016 CC HW: 028 101 183 2
Component: R4 1,9L EDC G000SG 6231
Revision: 12345678 Serial number: AUX7Z0E8FN208M
Coding: 0000071
Shop #: WSC 06435 000 00000
VCID: 66C370655180645CC3E97A

No fault code found.
Readiness: 0 0 1 1 1

-------------------------------------------------------------------------------
Address 03: ABS Brakes Labels: 1K0-907-379-MK60-F.lbl
Part No SW: 1K0 907 379 Q HW: 1K0 907 379 Q
Component: ESP FRONT MK60 0102
Revision: 00T12001
Coding: 0021128
Shop #: WSC 06435 000 00000
VCID: 408F86FD13646A6C1995DC

1 Fault Found:
01044 - Control Module Incorrectly Coded
003 -- Mechanical Failure

-------------------------------------------------------------------------------
Address 08: Auto HVAC Labels: 8P0-820-043.lbl
Part No SW: 8P0 820 043 J HW: 8P0 820 043 J
Component: KlimavollautomatH17 0200
Revision: 069408 Serial number: 8P0820043J
Shop #: WSC 06435 000 00000
VCID: 3365D93152D2C1F494172B

1 Fault Found:
00483 - Control Module for Auxiliary Air Heater
013 -- Check DTC Memory
Freeze Frame:
Fault Status: 01101101
Fault Priority: 3
Fault Frequency: 1
Reset counter: 213
Mileage: 0 km
Time Indication: 0

Freeze Frame:
ON

Tried that already with no luck. However power steering is no longer an issue, it works. The only problem is the ABS and ESP lights on the dash resulting from the ABS fault, that I don't know how to get rid off.

Only areas we coded were the engine and the steering wheel.

Is it possible that the new steering wheel control unit that was originally in the VW Jetta can have some settings stored that affect the ABS? because honestly that is the only new part in the system, and there were no errors prior to that. Could it require a special coding somewhere?

I don't know whether the stalk can have effect on that but I guess not (PN: 8p0 953 513 D).

One thing that keeps me wondering is that when I do the Steering Angle (G85) Calibration everything goes as prescribed in the plan. I get to the point where it says "OK" in field 2 under Group 060. However on the top of the screen it says that the Basic Settings are OFF. When I try to enable them by clicking ON/OFF/NEXT it gives errors in the fields where the previous correct readings were displayed (I don't have a screen of that, might do one tomorrow if necessary). Apart from this there's nothing else that would have caught my attention.

So it turned out the problem was with a ABS control module coding, yesterday we started with the original values that were there prior to the retrofit, and it gave all the errors I listed previously, even after calibration and test drive, which was not sufficient I guess, they really should rethink the phrase "short test drive" right? Anyway we then checked the ABS module for coding, well my friend did while I was away without telling me and it seemed to him that it was wrong as it was based on 15" rims (although they are not even listed in the registration certificate for my model) instead of 17" I drive at the moment. so we un/knowingly continued with the altered ABS coding. Naturally it gave errors all the time, even after we sorted the power steering. Today I researched the issue some more and came across an article that said how the ABS module should be coded according to the PR codes in the service booklet/trunk, so I felt the need to check the coding again. And luckily that seemed to be the root of the problem the whole time. The warnings disappeared. We did a rather long test drive just to be sure, and no errors came up so all good now. Cruise is working like a charm, one less thing to worry about, yaay

Thank you all for the support and ideas, I honestly tried all of them. Wouldn't it be for my friend who "forgot" to tell me such a small detail I could have it resolved yesterday. Better late than never is the spirit I guess here.
Keep up the good work guys