The ESP electronic control unit M050 receives a power supply from the battery via the lines protected by fuses F4 and F5 located in the engine compartment junction unit B001. The supplies from pin A and B of connector D of B001 reach pins 1 (pump) and 25 (solenoids) of M050.The ignition-controlled power supply (INT) reaches pin 32 of M050 from the line protected by fuse F42 located in the junction unit under the dashboard B002.The reference earth arrives from the negative battery pole A001 (connector C) and reaches pins 13 (pump) and 38 (solenoids) of connector A of M050.The sensors located on the wheels send a signal relating to the rotation speed to the ESP control unit: the signal for K070 (left front) reaches pins 22 and 34 of M050, the one for K071 (right front) reaches pins 6 and 18, the one for K075 (left rear) reaches pins 20 and 33 and the one for K076 (right rear) reaches pins 31 and 19.On the basis of the signals received from the wheel sensors, the ESP control unit M050 supplies a vehicle speed frequency signal (VSO) from pin 16 to the Body Computer M001 (pin 10 of connector D). The Body Computer, in turn, forwards this signal, via the CAN, to all the other network nodes.In the same way the ESP control unit M050 (pin 3) and the Body Computer M001 (pin 38 of connector D) communicate via a dedicated serial line.The switch for the brake pedal I030 sends a signal relating to the pressing of the pedal through the closure of the N.A. contact to the Body Computer M001 passing through the junction unit under the dashboard B002. This signal is made available to the ESP control unit, at pin 30 of M050 which uses it to carry out its two functions.The normally open contact for I030 receives an ignition-controlled power supply (INT) from the line protected by the fuse in B002.The Body Computer receives a power supply from the battery, via the line protected by fuse F1 located in the engine compartment junction unit B001. It also receives an ignition-controlled power supply (INT) from the ignition switch H001. The reference earth reaches pins 10 and 19 of connector A of M001.The steering angle sensor K058 (pin 5) receives an ignition-controlled power supply (INT) from the line protected by fuse F42. The same line also supplies the yaw sensor K074 (pin 1).The steering angle sensor K058 and the yaw sensor K074 receive the reference earth at pins 6 respectively.The two sensors exchange information with the ESP control unit M050 via the CAN.The ASR deactivation/reactivation commands come from pin 15 of the centre control unit in the dashboard H090 and reach pin 5 of M050. The ESP control unit sends the signal to turn on the LED in the actual control from pin 36 of M050 to pin 6 of the centre control unit H090. Pin 5 of H090 is earthed.The ESP control unit M050 (pins 14-26 and pins 15-27) is connected, via the CAN line, to the engine management control unit M010 (to control unit M054 as well on versions with a robotized gearbox), to the steering angle sensor K058 (pins 2-4 and pins 1-3), to the yaw sensor K074 (pins 2-4 and pins 3-5) and to the Body Computer M001 (pins 44 and 45 of connector D). It also, via the CAN, manages the ABS failure warning light, ESP / Hill Holder / ASR warning light and, if the problems involve the EBD system, the insufficient brake fluid level and handbrake applied warning light in the instrument panel E050 as well. The simple flashing of the ESP system failure warning light indicates the activation of the system whilst driving. See E1050 CAN CONNECTION LINES