ENG "ON".
Measure signal waveform of Vehicle Speed from ABS/ESP Control Module to ECM while driving.
Specification :
Is the signal waveform normal?
YES
Many malfunctions in the electrical system are caused by poor harness(es) and terminals. Faults can also be caused by interference from other electrical systems, and mechanical or chemical damage. So, check poor connections and the related circuit between ECM and component thoroughly. Repair as necessary and go to "Verification of Vehicle Repair" procedure.
NO
Substitute with a known - good ABS or ESP control unit and check for proper operation. If the problem is corrected, replace ABS or ESP control unit and go to "Verification of Vehicle Repair" procedure.