1.Dianostic with VCDS
If can't.
In case 1 problem. light be on abs and apc .
1.May be abs sensor (near disk location on left and right wheel) failed (short to ground open curcuit else).
2.ABS pump failed.
IN case 2
1.Idle to hight shoose be at 650-800 rpm for 2.5 hp .If higher when in D...
Mean belt was slip.
1.choke or roller of belt was stuck.
2.Belt was too stretch.
To solve.
1. Spary WD40 at choke or the core of roller (no1) and shake it must move as spring with hex l tool (in pic.) .
2.Tensioner or Belt chang.
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