The braking system control unit M051 is powered directly from the battery to pins 1 (pump) and 25 (solenoids) respectively via the protected lines from the fuses F04 and F23 in the engine compartment junction unit B001 (pin 19 and 6 of connector B).Pin 32 also receives an ignition operated power supply (15/54) along the line protected by fuse F24 from the control unit B001 (pin 13 of connector B).Pins 13 (pump) and 38 (solenoid) of M051 are connected to ABS front earth C012.The four sensors K070 (front left wheel), K071 (front right wheel), K075 (rear left wheel) and K076 (rear right wheel) are connected respectively to pins 34 and 22, 18 and 6, 33 and 20, 19 and 31 of braking system control unit M051 to receive the power supply and to send signals relating to the speed of the wheels.Pin 27 of connector B of Body computer M001 receives an NO signal from the switch on 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, pin 34 of connector B of Body computer M001 receives an NC signal from the switch on brake pedal I030, supplied by an ignition-controlled supply (INT) via a line protected by fuse F51 of the Body Computer. The latter sends this signal 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 from control unit M051 is always supplied via the CAN.The yaw control unit M091 (pin 1) also receives an ignition operated power supply (15/54) along the line protected by fuse F24 from the control unit B001 (pin 13 of connector B). The control unit M091 is connected to left front earth C010 at pin 6.The yaw control unit M091 is connected via the C-CAN (pins 2 and 4) to the electric steering control unit M086 (pins 8 and 7 of connector B) and (pins 3 and 5) to the braking system control unit M051 (pins 14 and 26).The electric steering control unit M086 (pins 2 and 3 of connector B), in turn communicates via the C-CAN with the Body Computer M001 (pins 44 and 45 of connector B).The control unit M051 is connected via the C-CAN (pins 27 and 15) to the engine management control unit M010. See E1050 CAN CONNECTION LINES The braking system control unit M051 is connected, via pin 5, to pin 5 of the auxiliary control panel H115, from which it receives the command to deactivate the ASR device.The control unit M051 in turn sends an earth signal from pin 36 to the switch on the LED in the ASR button (ASR OFF) connected via pin 4 of H115.The auxiliary control panel H115 (pin 6) internal button is powered when the ignition is on (INT), from the line protected by fuse F49 of Body Computer M001 (pin 16 of connector E).The Body Computer M001 is connected, via the B-CAN line, (from pins 18 and 20 of connector D) 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.The ESP / Hill Holder / ASR system warning light is always managed via the B-CAN.