The braking system control unit M051 receives a direct battery supply at pin 1 (pump) and 25 (solenoid valves) respectively via the lines protected by fuses F04 and F23 located in the engine compartment junction unit B001 (pins 19 and 6 of connector B).It also receives an ignition-controlled power supply (15/54) at pin 32 along the line protected by fuse F24 of junction unit B001 (pin 13 of connector B).Pins 13 (pump) and 38 (solenoid valves) of M051 are connected to the ABS front earth C012.The four sensors K070 (left front wheel), K071 (right front wheel), K075 (left rear wheel) and K076 (right rear wheel) are connected respectively to pins 34 and 22, 18 and 6, 33 and 20, 19 and 31 of the braking system control unit M051 to receive the power supply and send signals relating to the speed of the wheels.At pin 27 of connector B the Body Computer M001 receives an NA signal from the switch on the brake pedal I030, supplied by an ignition-controlled supply (INT) via a line protected by fuse F37 of the Body Computer (pin 7 of connector C). In the same way, the Body Computer M001 receives an NC signal from the switch on the brake pedal I030, supplied by an ignition-controlled supply (INT) via a line protected by fuse F51 of the Body Computer at pin 34 of connector B. The latter forwards these signals, via the C-CAN, to the braking system control unit M051: any intervention of the ABS is excluded unless the brake pedal is pressed.The speedometer signal is supplied, via the CAN, by the control unit M051.Control unit M051 is connected (pins 27 and 15) via the C-CAN line to the engine management control unit M010, and via pins 26 and 14 to the Body Computer M001 (pins 44 and 45 of connector B). See E1050 CAN CONNECTION LINES The Body Computer M001 is connected, via the B-CAN, from pins 18 and 20, to the instrument panel E050 (pins 5 and 6) to manage the "ABS failure" warning light and, if the problems involve the EBD function, the simultaneous switching on of the "insufficient brake fluid level/handbrake applied" warning light.