The ESP M051 electronic control unit receives a supply from the battery, pin 12 for the electronics and pin 25 for the solenoid valves, from the lines protected by maxifuses F5 and F4 of the engine compartment junction unit B001 respectively.The ignition-controlled power supply (INT from steering lock control unit) reaches pin 23 from the line protected by fuse F42 of the junction unit under the dashboard B002. The steering angle node M092 and the slewing node M091 receive a power supply from the same line (pin 5 and pin 1 respectively).The four sensors K070, K071, K075, K076 send speed signals for the wheels to pins 19-20, 7-8, 21-22, 9-10 of control unit M051 respectively.The brake pedal switch I030 sends an enablement signal to pin 17 of the ESP control unit M051: any intervention of the ABS is excluded unless the brake pedal is pressed; Switch I030 receives a power supply from the INT line protected by fuse F37 of junction unit B002.A "discrete" speedometer signal is sent from pin 16 of M051 to the Body Computer M001 (pin 7 of connector A); the same signal is also replicated via the CAN.The "ASR OFF" button, located in the controls on the tunnel H036 (at the height of the gearbox trim) sends the disengagement signal to pin 3 of M051, whilst the signal that switches on the LED with the system turned off is sent again from pin 4; the button for H036 receives a power supply from the INT line protected by fuse F49 of the junction unit under the dashboard B002.The steering angle M092 and slewing M091 nodes are an integral part of the CAN (pins 1-3, 2-4 and pins 2-3, 4-5 respectively). See E1050 CAN CONNECTION LINESThe control unit M051 is connected (via pins 1 and 2) through the CAN line to the engine management control unit M010, to the steering angle node M092, to the slewing node M091, to the Body Computer M001 and to the instrument panel E050 to manage the ABS failure, insufficient brake fluid level/handbrake applied and ASR/ESP warning lights.The autodiagnostic data can be read by connecting to connector C of the Body Computer M001 (pin 1): it receives signals from pin 6 of control unit M051 via the special diagnostic K line. See E8010 DIAGNOSTIC MULTIPLE CONNECTOR