Can someone help with relearning end stops?

**shiz222** · 02-16-2021 10:34 PM

Hi all need your help. Long story short I swapped my electronic power steering rack in my 2015 allroad. These are the faults I'm getting in the assisted steering module

OBDeleven data log

Date: 2021-02-16 21:39

VIN: WA1UFCFL1FA012268
Car: Audi A4 Allroad
Year: 2015
Body type: Avant
Engine: CPMB
Mileage: 106940 KM

---------------------------------------------------------------
44 Steering Assistance

System description: RCEPS
Software number: 8K0909144G
Software version: 0508
Hardware number: 8K0909144B
Hardware version: H40
Serial number: 0015309797
ODX name: EV_RCEPSAU48X
ODX version: 008015
Long coding: 100000000001

Trouble codes:
C10ACF0 - Steering End stops not learned
static
U140A00 - Terminal 30 Open circuit
Intermittent
C10AE13 - Electromechanical power steering motor Open circuit
Intermittent

Can anyone help me with re leading the end stops? I will double check fuses and connectors tomorrow to help diagnose the other 2 errors.
I've tried turning the wheel all the way left and right as described in various vids but no love. There's no beep at each end stop
Thanks

Sent from my Pixel 5 using Tapatalk

**dannydc24** · 02-17-2021 08:04 PM

Did you replace it with a new rack or used? If new, it has to be coded. The steering end stops is a basic setting to adapt the new rack. As far as I know only a factory scan tool will work. Not sure if anyone has had success with Ross tech. The other 2 faults I wouldn’t worry about. Those fault set when the connector was unplugged at one point.

Sent from my iPhone using Audizine Forum

**shiz222** · 02-17-2021 08:48 PM

Originally Posted by dannydc24

Did you replace it with a new rack or used? If new, it has to be coded. The steering end stops is a basic setting to adapt the new rack. As far as I know only a factory scan tool will work. Not sure if anyone has had success with Ross tech. The other 2 faults I wouldn’t worry about. Those fault set when the connector was unplugged at one point.

Sent from my iPhone using Audizine Forum

Hey Thanks for the reply,
It's a used rack.

Update:
I did some more work today, i cleared all faults with the ObdEleven. It cleared most of the codes (including two of the ones posted above) however after i restarted the engine, one code remained - in the 44 Steering module - the End Stop fault.

I tried following the endstop learning process outlined by Ross Tech HERE using the OBD11 instead of VCDS. The Process seems very similar in both interfaces. But i got stuck:
Basic Settings
Unlearn previously learned parameters
Asks for a Security Pin for the steering module >>> stuck: not sure what that code is?

So is there a special ...mode the car has to be in to learn the end stops? Because i tried several times spinning the wheel to either side, waiting etc. nothing seems to work. I dont hear the beep after each revolution, and the code remains after restart.

Here are the logs:

Before clearing codes:

Code:

OBDeleven data log

Date: 2021-02-17 16:35

    VIN: WA1UFCFL1FA012268
    Car: Audi A4 Allroad
    Year: 2015
    Body type: Avant
    Engine: CPMB
    Mileage: 106940 KM

---------------------------------------------------------------
01 Engine

    System description: 2.0l R4/4V TF
    Software number: 8K5907115N
    Software version: 0005
    Hardware number: 8K2907115L
    Hardware version: H09
    ODX name: EV_ECM20TFS0118K5907115N
    ODX version: 001006
    Long coding: 722A0013242600062000

    Trouble codes:
        P068A00 - ECM/PCM Power Relay De-Energized Performance - Too Early
            Intermittent
                Priority: 2
                Malfunction frequency counter: 1
                Unlearning counter: 255
                Engine speed: 0.00 1/min
                Normed load value: 0.0 %
                Vehicle speed: 255 km/h
                Coolant temperature: 85 °C
                Intake air temperature: 54 °C
                Ambient air pressure: 980 mbar
                Voltage terminal 30: 12.345 V
                Dynamic environmental data: 209625107A0011BD0CD6133806121610AB151403126EFFFF10100000
        P030000 - Random/Multiple Cylinder Misfire Detected
            Intermittent
        P030100 - Cyl.1 Misfire Detected
            Intermittent
        P030200 - Cyl.2 Misfire Detected
            Intermittent


---------------------------------------------------------------
02 Transmission

    System description: 0BK 20TFSIUSA
    Software number: 8K0927158AE
    Software version: 1003
    Hardware number: 0BK927156AL
    Hardware version: H18
    ODX name: EV_TCMAL551211
    ODX version: 002022
    Long coding: 000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
03 Brakes

    System description: ESP8 quattro
    Software number: 8K9907379N
    Software version: 0020
    Hardware number: 8K9907379N
    Hardware version: H09
    Serial number: --------------
    Long coding: 0E150001

    Trouble codes:
        01309 - Power steering control module Please read DTC
            static
                Priority:  6
                Frequency counter:  3
                Driving cycle: 167
                Mileage: 106942 km
                Date: 2021-02-16 21:18:42
        01044 - Control module incorrectly coded
            static
                Priority:  3
                Frequency counter:  1
                Driving cycle: 167
                Mileage: 106942 km
                Date: 2021-02-17 16:28:06


---------------------------------------------------------------
04 Steering Angle Sensor


    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
05 Keyless System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Long coding: 0D824040000000000000

    Subsystems:
        System description: J764 ELV MLB
        Software number: 8K0905852E
        Software version: 0046
        Hardware version: H40
        Serial number: 0214000105166005   

    Trouble codes:
        03286 - Right front exterior door handle touch sensor Open circuit
            static
                Priority:  2
                Frequency counter:  1
                Driving cycle: 167
                Mileage: 106942 km
                Date: 2021-02-16 21:22:34


---------------------------------------------------------------
08 Air Conditioning

    System description: KLIMA 3 ZONEN
    Software number: 8K1820043AQ
    Software version: 0123
    Hardware number: 8K1820043AQ
    Hardware version: H04
    Serial number: 01100620140048
    Long coding: 6480208000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
09 Central Electrics

    System description: BCM1 1.0
    Software number: 8K0907063DH
    Software version: 0103
    Hardware number: 8K0907063DH
    Hardware version: H16
    Serial number: 00000831822401
    Long coding: 26000096863CAFE00100488300003D0D0F9CC70822090201000008004400030100000020000000

    Subsystems:
        System description: MITSUBA250414
        Software number: 8K1955119B
        Software version: 0461
        Hardware version: H18
        Serial number: 1404180703404      
        Long coding: 004577

        System description: G397_RLFS   
        Software number: 8U0955559B
        Software version: 0002
        Hardware version: H06
        Serial number: 22739033           
        Long coding: 02005D

        System description: E1 - LDS    
        Software number: 8K0941531AS
        Software version: 0031
        Hardware version: H03
        Serial number: 00000000002705141092

        System description: AQ_Hum_Sensor
        Software number: 4H0907658 
        Software version: 0003
        Hardware version: H03
        Serial number: DDC88037000000000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
15 Airbag

    System description: AirbagVW-AU10
    Software number: 8K0959655R
    Software version: 0812
    Hardware number: 8K0959655R
    Hardware version: H51
    Serial number: 003NED12432M
    ODX name: EV_AirbaECUVWAUDI010
    ODX version: 003114
    Long coding: 304544354A3238313130554A304C384B3053

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
16 Steering Column

    System description: Lenks.Modul
    Software number: 8K0953568Q
    Software version: 0003
    Hardware number: 8K0953568Q
    Hardware version: H03
    Serial number: 90862NFC0012C
    Long coding: 000017

    Subsystems:
        System description: E221 - MFL  
        Software version: 0004
        Hardware version: H03

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
17 Dashboard

    System description: KOMBIINSTR.
    Software number: 8K0920931T
    Software version: 0564
    Hardware number: 8K0920931T
    Hardware version: H35
    Serial number: ZA866K46F
    Long coding: 8BA6290202010008020000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
19 Gateway

    System description: GW-BEM 4CAN-M
    Software number: 8R0907468N
    Software version: 0060
    Hardware number: 8R0907468C
    Hardware version: H11
    Serial number: 3041Y145290A0B
    Long coding: 80C303FF00

    Subsystems:
        System description: J367-BDMHella
        Software number: 8T0915181 
        Software version: 8041
        Hardware version: H03
        Serial number: 5105353503         

    Trouble codes:
        03041 - Energy management active
            Intermittent
                Priority:  7
                Frequency counter:  3
                Driving cycle: 207
                Mileage: 106942 km
                Date: 2021-02-16 21:19:42


---------------------------------------------------------------
36 Driver Seat

    System description: MEM-FS
    Software number: 8K0959760D
    Software version: 0077
    Hardware number: 8K0959760D
    Hardware version: H06
    Serial number: 00000104865366
    Long coding: 00581B00000000000000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
42 Driver Door

    System description: TSG FA
    Software number: 8K0959793R
    Software version: 0510
    Hardware number: 8K0959793P
    Hardware version: H02
    Serial number: 0000105536988
    Long coding: 011C13205E00410001

    Trouble codes:
        00920 - Heated outside mirrors Electrical error in circuit
            static
                Priority:  3
                Frequency counter: 147
                Driving cycle: 164
                Mileage: 104396 km
                Date: 2020-12-13 10:41:12


---------------------------------------------------------------
44 Steering Assistance

    System description: RCEPS
    Software number: 8K0909144G
    Software version: 0508
    Hardware number: 8K0909144B
    Hardware version: H40
    Serial number: 0015309797
    ODX name: EV_RCEPSAU48X
    ODX version: 008015
    Long coding: 100000000001

    Trouble codes:
        C10ACF0 - Steering End stops not learned
            static
                Date: 2021-02-16 21:14:55
                Mileage: 106942 km
                Priority: 6
                Malfunction frequency counter: 13
                Unlearning counter: 167
                VIN_EEPROM: 38393831
                VIN_bus_system: 32323638
                Steering wheel angle: 6089.3 °
                BUS_SCU_Motor_Angle: 0.0 °
                BUS_SCU_Nominal_Angle: 0.0 °
                End_stops_unlearn_reason: unlearned by VIN
                End_stops_unlearn_reason_hex: 04
        U140A00 - Terminal 30 Open circuit
            Intermittent
                Date: 2020-01-22 11:45:23
                Mileage: 107890 km
                Priority: 2
                Malfunction frequency counter: 1
                Unlearning counter: 28
                Engine speed: 706.00 1/min
                Vehicle speed: 21.81 km/h
                Supply voltage, terminal 30: 14.82 V
                Output stage voltage: 14.82 V
                Factor_reduction_steering_support_UNT: 0.00
                Voltage_ASC_DCLink_ref_hex: 60C0
                Voltage_ASC_DCLink_ref: 2.49 V
        C10AE13 - Electromechanical power steering motor Open circuit
            Intermittent
                Date: 2020-01-16 10:49:29
                Mileage: 107740 km
                Priority: 2
                Malfunction frequency counter: 13
                Unlearning counter: 23
                Persistent_Open_Winding_hex: FF
                Persistent_Open_Winding_Measurement_Status: 1
                Persistent_Open_Winding_U_Phase: 1
                Persistent_Open_Winding_V_Phase: 1
                Persistent_Open_Winding_W_Phase: 1
                Persistent_Open_Winding_Error_Counter: 15
                Counter_Per_Period_defect_phase: 001E
                PWM_Nominal_defect_phase: FFFA
                PWM_Distortion_defect_phase: FFE1
                Sector_DT_Angle_Sector_hex: FF
                Sector_DT: 15
                Angle_Sector: 15
                Motor_Angle_U: 2F52
                Sector_Evaluation_State: FF
                Abs_Phase_Current: FFFF
                Output stage voltage: 11.40 V
                Engine temperature: -16.6 °C
                FrittingState_RelayHeatingDone_MotorRestartFlag_SystemState_hex: 30
                Fritting_State: Init
                Motor_Restart_Flag: 0
                System_State: 6
                Motor_Position_Speed_compr_hex: 00
                Motor_Position_Speed_compr: 0


---------------------------------------------------------------
46 Comfort System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Serial number: 0337364921
    Long coding: 0126023A20BA309580B0023200000000

    Subsystems:
        System description: LIN BACKUP HO
        Software number: 1K0951605C
        Software version: 1501
        Hardware version: H05

        System description: J245 PS151  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

        System description: J394 PS240  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
52 Passenger Door

    System description: TSG BF
    Software number: 8K0959792R
    Software version: 0510
    Hardware number: 8K0959792P
    Hardware version: H02
    Serial number: 0000105347817
    Long coding: 011C13205E00410001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
53 Parking Brake

    System description: EPB-4
    Software number: 8K0907801N
    Software version: 0005
    Hardware number: 8K0907801J
    Hardware version: H02
    Serial number: 10000000386083
    ODX name: EV_ParkiBrake
    ODX version: 001028

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
56 Radio

    System description: Radio U SIRIU
    Software number: 4G0035082G
    Software version: 0133
    Hardware number: 4G0035082
    Hardware version: H60
    Serial number: 156FP0E8020205
    Long coding: 020007020100000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
5F Multimedia

    System description: H-BN-NA
    Software number: 8R1035664F
    Software version: 0812
    Hardware number: 8R1035664D
    Hardware version: H41
    Serial number: 203FV0EB005428
    Long coding: 10020005000681ED45008B4E00000403F40000020000000000

    Subsystems:
        System description: NAR 2014    
        Software number: 8R0060884CA
        Software version: 1002

        System description: DU7 High    
        Software number: 8R0919604A
        Software version: 0104
        Hardware version: H42
        Serial number: A130FO0E3050457    

        System description: E0380 Bedient
        Software number: 8T0919611L
        Software version: 0030
        Hardware version: H02
        Serial number: 00000001883526     

        System description: CD-Database 
        Software number: 8R0060961G
        Software version: 5950

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
62 Rear Left Door

    System description: TSG HL
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000105495631
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
6D Deck Lid Control

    System description: J605  Master
    Software number: 8K9827851C
    Software version: 0330
    Hardware number: 8K9827851C
    Hardware version: H53
    Serial number: 8K9827851C

    Subsystems:
        System description: J756  Slave 
        Software number: 8K9827852C
        Software version: 0330
        Hardware version: H53
        Serial number: 8K9827852C         

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
72 Rear Right Door

    System description: TSG HR
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000104998685
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

**shiz222** · 02-17-2021 08:49 PM

After clearing codes:

Code:

OBDeleven data log

Date: 2021-02-17 19:21

    VIN: WA1UFCFL1FA012268
    Car: Audi A4 Allroad
    Year: 2015
    Body type: Avant
    Engine: CPMB
    Mileage: 106940 KM

---------------------------------------------------------------
01 Engine

    System description: 2.0l R4/4V TF
    Software number: 8K5907115N
    Software version: 0005
    Hardware number: 8K2907115L
    Hardware version: H09
    ODX name: EV_ECM20TFS0118K5907115N
    ODX version: 001006
    Long coding: 722A0013242600062000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
02 Transmission

    System description: 0BK 20TFSIUSA
    Software number: 8K0927158AE
    Software version: 1003
    Hardware number: 0BK927156AL
    Hardware version: H18
    ODX name: EV_TCMAL551211
    ODX version: 002022
    Long coding: 000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
03 Brakes

    System description: ESP8 quattro
    Software number: 8K9907379N
    Software version: 0020
    Hardware number: 8K9907379N
    Hardware version: H09
    Serial number: --------------
    Long coding: 0E150001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
04 Steering Angle Sensor


    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
05 Keyless System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Long coding: 0D824040000000000000

    Subsystems:
        System description: J764 ELV MLB
        Software number: 8K0905852E
        Software version: 0046
        Hardware version: H40
        Serial number: 0214000105166005   

    Trouble codes:
        03286 - Right front exterior door handle touch sensor Open circuit
            static
                Priority:  2
                Frequency counter:  1
                Driving cycle: 167
                Mileage: 106942 km
                Date: 2021-02-17 17:08:36


---------------------------------------------------------------
08 Air Conditioning

    System description: KLIMA 3 ZONEN
    Software number: 8K1820043AQ
    Software version: 0123
    Hardware number: 8K1820043AQ
    Hardware version: H04
    Serial number: 01100620140048
    Long coding: 6480208000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
09 Central Electrics

    System description: BCM1 1.0
    Software number: 8K0907063DH
    Software version: 0103
    Hardware number: 8K0907063DH
    Hardware version: H16
    Serial number: 00000831822401
    Long coding: 26000096863CAFE00100488300003D0D0F9CC70822090201000008004400030100000020000000

    Subsystems:
        System description: MITSUBA250414
        Software number: 8K1955119B
        Software version: 0461
        Hardware version: H18
        Serial number: 1404180703404      
        Long coding: 004577

        System description: G397_RLFS   
        Software number: 8U0955559B
        Software version: 0002
        Hardware version: H06
        Serial number: 22739033           
        Long coding: 02005D

        System description: E1 - LDS    
        Software number: 8K0941531AS
        Software version: 0031
        Hardware version: H03
        Serial number: 00000000002705141092

        System description: AQ_Hum_Sensor
        Software number: 4H0907658 
        Software version: 0003
        Hardware version: H03
        Serial number: DDC88037000000000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
15 Airbag

    System description: AirbagVW-AU10
    Software number: 8K0959655R
    Software version: 0812
    Hardware number: 8K0959655R
    Hardware version: H51
    Serial number: 003NED12432M
    ODX name: EV_AirbaECUVWAUDI010
    ODX version: 003114
    Long coding: 304544354A3238313130554A304C384B3053

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
16 Steering Column

    System description: Lenks.Modul
    Software number: 8K0953568Q
    Software version: 0003
    Hardware number: 8K0953568Q
    Hardware version: H03
    Serial number: 90862NFC0012C
    Long coding: 000017

    Subsystems:
        System description: E221 - MFL  
        Software version: 0004
        Hardware version: H03

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
17 Dashboard

    System description: KOMBIINSTR.
    Software number: 8K0920931T
    Software version: 0564
    Hardware number: 8K0920931T
    Hardware version: H35
    Serial number: ZA866K46F
    Long coding: 8BA6290202010008020000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
19 Gateway

    System description: GW-BEM 4CAN-M
    Software number: 8R0907468N
    Software version: 0060
    Hardware number: 8R0907468C
    Hardware version: H11
    Serial number: 3041Y145290A0B
    Long coding: 80C303FF00

    Subsystems:
        System description: J367-BDMHella
        Software number: 8T0915181 
        Software version: 8041
        Hardware version: H03
        Serial number: 5105353503         

    Trouble codes:
        03041 - Energy management active
            static
                Priority:  7
                Frequency counter: 11
                Driving cycle: 168
                Mileage: 106942 km
                Date: 2021-02-17 16:58:07


---------------------------------------------------------------
36 Driver Seat

    System description: MEM-FS
    Software number: 8K0959760D
    Software version: 0077
    Hardware number: 8K0959760D
    Hardware version: H06
    Serial number: 00000104865366
    Long coding: 00581B00000000000000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
42 Driver Door

    System description: TSG FA
    Software number: 8K0959793R
    Software version: 0510
    Hardware number: 8K0959793P
    Hardware version: H02
    Serial number: 0000105536988
    Long coding: 011C13205E00410001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
44 Steering Assistance

    System description: RCEPS
    Software number: 8K0909144G
    Software version: 0508
    Hardware number: 8K0909144B
    Hardware version: H40
    Serial number: 0015309797
    ODX name: EV_RCEPSAU48X
    ODX version: 008015
    Long coding: 100000000001

    Trouble codes:
        C10ACF0 - Steering End stops not learned
            static
                Date: 2021-02-17 17:13:47
                Mileage: 106942 km
                Priority: 6
                Malfunction frequency counter: 31
                Unlearning counter: 168
                VIN_EEPROM: 32323638
                VIN_bus_system: 32323638
                Steering wheel angle: 0.1 °
                BUS_SCU_Motor_Angle: 0.0 °
                BUS_SCU_Nominal_Angle: 0.0 °
                End_stops_unlearn_reason: unlearned by Diagnostic Service 31
                End_stops_unlearn_reason_hex: 05


---------------------------------------------------------------
46 Comfort System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Serial number: 0337364921
    Long coding: 0126023A20BA309580B0023200000000

    Subsystems:
        System description: LIN BACKUP HO
        Software number: 1K0951605C
        Software version: 1501
        Hardware version: H05

        System description: J245 PS151  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

        System description: J394 PS240  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
52 Passenger Door

    System description: TSG BF
    Software number: 8K0959792R
    Software version: 0510
    Hardware number: 8K0959792P
    Hardware version: H02
    Serial number: 0000105347817
    Long coding: 011C13205E00410001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
53 Parking Brake

    System description: EPB-4
    Software number: 8K0907801N
    Software version: 0005
    Hardware number: 8K0907801J
    Hardware version: H02
    Serial number: 10000000386083
    ODX name: EV_ParkiBrake
    ODX version: 001028

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
56 Radio

    System description: Radio U SIRIU
    Software number: 4G0035082G
    Software version: 0133
    Hardware number: 4G0035082
    Hardware version: H60
    Serial number: 156FP0E8020205
    Long coding: 020007020100000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
5F Multimedia

    System description: H-BN-NA
    Software number: 8R1035664F
    Software version: 0812
    Hardware number: 8R1035664D
    Hardware version: H41
    Serial number: 203FV0EB005428
    Long coding: 10020005000681ED45008B4E00000403F40000020000000000

    Subsystems:
        System description: NAR 2014    
        Software number: 8R0060884CA
        Software version: 1002

        System description: DU7 High    
        Software number: 8R0919604A
        Software version: 0104
        Hardware version: H42
        Serial number: A130FO0E3050457    

        System description: E0380 Bedient
        Software number: 8T0919611L
        Software version: 0030
        Hardware version: H02
        Serial number: 00000001883526     

        System description: CD-Database 
        Software number: 8R0060961G
        Software version: 5950

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
62 Rear Left Door

    System description: TSG HL
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000105495631
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
6D Deck Lid Control

    System description: J605  Master
    Software number: 8K9827851C
    Software version: 0330
    Hardware number: 8K9827851C
    Hardware version: H53
    Serial number: 8K9827851C

    Subsystems:
        System description: J756  Slave 
        Software number: 8K9827852C
        Software version: 0330
        Hardware version: H53
        Serial number: 8K9827852C         

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
72 Rear Right Door

    System description: TSG HR
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000104998685
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

**Smac770** · 02-18-2021 12:15 PM

https://www.audiworld.com/forums/vag...ccess-2868163/

Have you tried 40168?

**shiz222** · 02-18-2021 12:53 PM

Yessir...a few minutes ago as a matter of fact.
It did not work. The obd11 recommends 3 other codes...70xxx(forgot) was the only one that was not instantly rejected...but I wasn't sure if it worked or not as there's no other confirmation.

To confirm the process I followed:
Using obd11 pro
Engine off but accessories on
044 Steering control module
Basic settings
Reset of all learned values for steering assistance.(attached)
Security Code input
Click and hold check mark.

Turn engine on and followed outlined process (turn wheel each side wait a few sec and power off) however there was no audible beep when reaching each end stop. And no obvious change in the fault.
Screenshot_20210218-132206.jpg

Sent from my Pixel 5 using Tapatalk

**Smac770** · 02-18-2021 03:35 PM

I don't have that type of rack to test with. Might be worth paying the dealership the hour labor to adapt the replacement rack.

**shiz222** · 02-18-2021 03:47 PM

I have access to a vag-com. I wonder if it's an obd11 issue.
I might try that as a last ditch effort before taking it to the dealership.

Sent from my Pixel 5 using Tapatalk

**shiz222** · 02-19-2021 09:57 AM

@Smac770 - question:
Does it make sense to perform the wheel alignment prior to learning end-stops or after?

**Smac770** · 02-19-2021 02:15 PM

The alignment should be performed with the rack centered, as physically marked on the rack itself. And the end stops are based on the physical travel limits of the rack, which the alignment should not bother with (though the alignment would validate). So I personally don't see how they would interact.

But the replace sequence for the electro-mechanical rack has "install both bolts, tighten both bolts, install stabilizer bar, install crossbrace, run the "J500 replace control module" program, perform alignment". So I would assume the alignment would come after the end stop learning.

**shiz222** · 02-19-2021 02:58 PM

Got into the shop for the alignment alot quicker than i thought. Was out quite a bit - which i expected.

Update: Holy smokes FIXED the issue! and i don't really think?! i even needed the obd11

Got the car back from alignment shop.
Tried clearing the code following the procedure i listed above. Security code 43702 seems the only code that worked. Again same results - no beeps/no learning happening after OBD11 reset learned values for Steering Assistance.
Got home and came across this video: https://youtu.be/zXyTuW4Eog4?t=229
On a whim i tried it again using the procedure outlined in the video.
Turned the car on, foot on brakes, put the car in gear.
Turned the wheel left all the way...BEEP! (less than 5 sec)
Turn the car all the way right BEEP!
Centred the wheel. Code vanished.

Cleared codes with OBD11, re scanned No Fault Found.

Code:

OBDeleven data log

Date: 2021-02-17 19:21

    VIN: WA1UFCFL1FA012268
    Car: Audi A4 Allroad
    Year: 2015
    Body type: Avant
    Engine: CPMB
    Mileage: 106940 KM

---------------------------------------------------------------
01 Engine

    System description: 2.0l R4/4V TF
    Software number: 8K5907115N
    Software version: 0005
    Hardware number: 8K2907115L
    Hardware version: H09
    ODX name: EV_ECM20TFS0118K5907115N
    ODX version: 001006
    Long coding: 722A0013242600062000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
02 Transmission

    System description: 0BK 20TFSIUSA
    Software number: 8K0927158AE
    Software version: 1003
    Hardware number: 0BK927156AL
    Hardware version: H18
    ODX name: EV_TCMAL551211
    ODX version: 002022
    Long coding: 000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
03 Brakes

    System description: ESP8 quattro
    Software number: 8K9907379N
    Software version: 0020
    Hardware number: 8K9907379N
    Hardware version: H09
    Serial number: --------------
    Long coding: 0E150001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
04 Steering Angle Sensor


    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
05 Keyless System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Long coding: 0D824040000000000000

    Subsystems:
        System description: J764 ELV MLB
        Software number: 8K0905852E
        Software version: 0046
        Hardware version: H40
        Serial number: 0214000105166005   

    Trouble codes:
        03286 - Right front exterior door handle touch sensor Open circuit
            static
                Priority:  2
                Frequency counter:  1
                Driving cycle: 167
                Mileage: 106942 km
                Date: 2021-02-17 17:08:36


---------------------------------------------------------------
08 Air Conditioning

    System description: KLIMA 3 ZONEN
    Software number: 8K1820043AQ
    Software version: 0123
    Hardware number: 8K1820043AQ
    Hardware version: H04
    Serial number: 01100620140048
    Long coding: 6480208000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
09 Central Electrics

    System description: BCM1 1.0
    Software number: 8K0907063DH
    Software version: 0103
    Hardware number: 8K0907063DH
    Hardware version: H16
    Serial number: 00000831822401
    Long coding: 26000096863CAFE00100488300003D0D0F9CC70822090201000008004400030100000020000000

    Subsystems:
        System description: MITSUBA250414
        Software number: 8K1955119B
        Software version: 0461
        Hardware version: H18
        Serial number: 1404180703404      
        Long coding: 004577

        System description: G397_RLFS   
        Software number: 8U0955559B
        Software version: 0002
        Hardware version: H06
        Serial number: 22739033           
        Long coding: 02005D

        System description: E1 - LDS    
        Software number: 8K0941531AS
        Software version: 0031
        Hardware version: H03
        Serial number: 00000000002705141092

        System description: AQ_Hum_Sensor
        Software number: 4H0907658 
        Software version: 0003
        Hardware version: H03
        Serial number: DDC88037000000000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
15 Airbag

    System description: AirbagVW-AU10
    Software number: 8K0959655R
    Software version: 0812
    Hardware number: 8K0959655R
    Hardware version: H51
    Serial number: 003NED12432M
    ODX name: EV_AirbaECUVWAUDI010
    ODX version: 003114
    Long coding: 304544354A3238313130554A304C384B3053

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
16 Steering Column

    System description: Lenks.Modul
    Software number: 8K0953568Q
    Software version: 0003
    Hardware number: 8K0953568Q
    Hardware version: H03
    Serial number: 90862NFC0012C
    Long coding: 000017

    Subsystems:
        System description: E221 - MFL  
        Software version: 0004
        Hardware version: H03

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
17 Dashboard

    System description: KOMBIINSTR.
    Software number: 8K0920931T
    Software version: 0564
    Hardware number: 8K0920931T
    Hardware version: H35
    Serial number: ZA866K46F
    Long coding: 8BA6290202010008020000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
19 Gateway

    System description: GW-BEM 4CAN-M
    Software number: 8R0907468N
    Software version: 0060
    Hardware number: 8R0907468C
    Hardware version: H11
    Serial number: 3041Y145290A0B
    Long coding: 80C303FF00

    Subsystems:
        System description: J367-BDMHella
        Software number: 8T0915181 
        Software version: 8041
        Hardware version: H03
        Serial number: 5105353503         

    Trouble codes:
        03041 - Energy management active
            static
                Priority:  7
                Frequency counter: 11
                Driving cycle: 168
                Mileage: 106942 km
                Date: 2021-02-17 16:58:07


---------------------------------------------------------------
36 Driver Seat

    System description: MEM-FS
    Software number: 8K0959760D
    Software version: 0077
    Hardware number: 8K0959760D
    Hardware version: H06
    Serial number: 00000104865366
    Long coding: 00581B00000000000000

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
42 Driver Door

    System description: TSG FA
    Software number: 8K0959793R
    Software version: 0510
    Hardware number: 8K0959793P
    Hardware version: H02
    Serial number: 0000105536988
    Long coding: 011C13205E00410001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
44 Steering Assistance

    System description: RCEPS
    Software number: 8K0909144G
    Software version: 0508
    Hardware number: 8K0909144B
    Hardware version: H40
    Serial number: 0015309797
    ODX name: EV_RCEPSAU48X
    ODX version: 008015
    Long coding: 100000000001

    Trouble codes:
        C10ACF0 - Steering End stops not learned
            static
                Date: 2021-02-17 17:13:47
                Mileage: 106942 km
                Priority: 6
                Malfunction frequency counter: 31
                Unlearning counter: 168
                VIN_EEPROM: 32323638
                VIN_bus_system: 32323638
                Steering wheel angle: 0.1 °
                BUS_SCU_Motor_Angle: 0.0 °
                BUS_SCU_Nominal_Angle: 0.0 °
                End_stops_unlearn_reason: unlearned by Diagnostic Service 31
                End_stops_unlearn_reason_hex: 05


---------------------------------------------------------------
46 Comfort System

    System description: BCM2 2.0
    Software number: 8K0907064JP
    Software version: 0650
    Hardware number: 8K0907064JP
    Hardware version: H14
    Serial number: 0337364921
    Long coding: 0126023A20BA309580B0023200000000

    Subsystems:
        System description: LIN BACKUP HO
        Software number: 1K0951605C
        Software version: 1501
        Hardware version: H05

        System description: J245 PS151  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

        System description: J394 PS240  
        Software number: 8K0959591C
        Software version: 0043
        Hardware version: H08

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
52 Passenger Door

    System description: TSG BF
    Software number: 8K0959792R
    Software version: 0510
    Hardware number: 8K0959792P
    Hardware version: H02
    Serial number: 0000105347817
    Long coding: 011C13205E00410001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
53 Parking Brake

    System description: EPB-4
    Software number: 8K0907801N
    Software version: 0005
    Hardware number: 8K0907801J
    Hardware version: H02
    Serial number: 10000000386083
    ODX name: EV_ParkiBrake
    ODX version: 001028

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
56 Radio

    System description: Radio U SIRIU
    Software number: 4G0035082G
    Software version: 0133
    Hardware number: 4G0035082
    Hardware version: H60
    Serial number: 156FP0E8020205
    Long coding: 020007020100000001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
5F Multimedia

    System description: H-BN-NA
    Software number: 8R1035664F
    Software version: 0812
    Hardware number: 8R1035664D
    Hardware version: H41
    Serial number: 203FV0EB005428
    Long coding: 10020005000681ED45008B4E00000403F40000020000000000

    Subsystems:
        System description: NAR 2014    
        Software number: 8R0060884CA
        Software version: 1002

        System description: DU7 High    
        Software number: 8R0919604A
        Software version: 0104
        Hardware version: H42
        Serial number: A130FO0E3050457    

        System description: E0380 Bedient
        Software number: 8T0919611L
        Software version: 0030
        Hardware version: H02
        Serial number: 00000001883526     

        System description: CD-Database 
        Software number: 8R0060961G
        Software version: 5950

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
62 Rear Left Door

    System description: TSG HL
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000105495631
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
6D Deck Lid Control

    System description: J605  Master
    Software number: 8K9827851C
    Software version: 0330
    Hardware number: 8K9827851C
    Hardware version: H53
    Serial number: 8K9827851C

    Subsystems:
        System description: J756  Slave 
        Software number: 8K9827852C
        Software version: 0330
        Hardware version: H53
        Serial number: 8K9827852C         

    Trouble codes:
        No trouble codes found

---------------------------------------------------------------
72 Rear Right Door

    System description: TSG HR
    Software number: 8K0959795G
    Software version: 0510
    Hardware number: 8K0959795D
    Hardware version: H01
    Serial number: 0000104998685
    Long coding: 010C13204000210001

    Trouble codes:
        No trouble codes found

**Smac770** · 02-20-2021 12:18 PM

Yeah, saw that video but couldn't get through it for all the stupid music; hell they didn't even play the beep that was supposed to occur.

But the take away is the difference between the video and the ross-tech page is being in gear when doing the steering wheel turning. We'll never know for sure unless a dealership tech says "yes, that's what the computer program says to do". Or maybe the difference only matters here or there and is not consistent.

Glad you got it resolved.

**vincent_nguyen2** · 02-20-2021 10:23 PM

Hmm I must have missed the notification for this thread. I had accidentally started my car without the canbus gateway plugged in and had to relearn end stops as well. I learned from reversing into the garage and having to go full lock one way that it beeped and read that one end stop, which I then tested the other end stop and it recorded that as well.

Thread: Can someone help with relearning end stops?

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