MK5 Golf GTI

All Things Mk5 => How to Guides / Troubleshooting => Topic started by: jason_rmh on February 12, 2017, 12:48:13 pm

Title: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on February 12, 2017, 12:48:13 pm
Background...
My Mk5 has been parked up for a few weeks. The battery went completely flat.
Last week connected the battery to my CTEk battery charger / maintainer for a few days.
Car now starts, electrics work etc.
The car has then been sat for another week, but still starts fine.

I get the expected power steering, ABS and traction control lights on the dash.
So set about completing the basic settings / adaptation as I have done before.
This time, the Steering Limit Stop incorrectly coded fault will not clear.
Steering angle sensor in measuring blocks does not change from 0 in VCDS when the wheel is turned.
On running a full scan, I found that the Steering Module (16) is showing:
Code: [Select]
Address 16: Steering Wheel
01044 - Control module incorrectly coded.

Address 44: Steering Assist
02546 - Steering Limit Stop
   005 - No or incorrect basic setting / adaptation

00778 - Steering Angle Sensor (G85)
   000 - -
     Freeze frame:
This fault will not clear and is probably preventing me from performing Steering Limit Stop adaption?


I think the incorrectly coded error on steering module is preventing me doing the steering limit stop.
I have put the car back on charge to see if battery voltage is causing any of my issues.

Failing that, any ideas on Steering Module incorrectly coded?
Its set to 000532 which it has been since fitting Mk6 MFSW a few years back.
Nothing has been removed, just the battery went flat.

I'll post a scan shortly.
Thanks
Jason
Title: Re: Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on February 12, 2017, 01:07:22 pm
I changed steering wheel coding from 0000532 to 0000534 rear wiper, on-board computer via wiper stalk).

This gets rid of the incorrectly coded error, although mfsw no longer works, but just to eliminate things...

With module 16 no longer showing errors, measuring blocks for steering angle sensor still don't register when the steering wheel is turned. Eg. Stays at 0.

I'm hoping the steering angle sensor or steering wheel control module hasn't randomly gone faulty...

Edit: the incorrectly coded error came back so I have set the coding back to 0000532.

Maybe the steering wheel control module is faulty?
Jas
Title: Re: Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on February 12, 2017, 05:09:44 pm
Even though I have done the G85 basic settings, measuring blocks show G85 has not be initialised.
This in turn means the steering stop limit cannot be completed.

After a bit of googling it is possible the problem could also be a faulty wheel speed sensor. which prevents G85 being adapted correctly.
Although I have no errors logged, I'm going to log the wheel speed sensor signals in graphic mode in VCDS.
This will show if any of them are not operating correctly.

I'll also check sensor, wiring and rotor.

For now, I have no power steering  :scared:
Title: Re: Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on February 23, 2017, 11:39:31 pm
I figured this out so here it is in case it helps others...

Symptoms
My battery had gone totally flat as the car had been sat for a while.
On re charging the battery, all the warning lights were on the dash.
I could not clear the ABS / Power Steering / Traction Controls lights.

My issue was that the G85 Steering Angle Sensor would appear to accept basic settings, but they were not taking effect.
Steering angle in measuring blocks (ABS, group 4) was showing 0 degrees, even when turning the steering wheel.
As a result, power steering was disabled and ABS was cutting in when coming to a normal stop at junctions, round abouts etc.

The error regarding Steering incorrectly coded was a red herring (and is still happening intermittently).

Cause
On the mk5 golf with MK60 ABS, the G85 basic settings are done via module 03 - ABS (not 44 - Steering Assist).
G85 will not accept basic settings if there are faults present in the ABS module.
Although I had no faults present, I started to wonder if the ABS may be faulty.
I read this on Ross Tech website:
Check all Adaptation values in the #44-Steering Assist controller.
Verify all of the WSS (Wheel Speed Sensor) values are plausible in the 03-ABS controller!

Diagnosis
On the mk5, each wheel bearing has a sensor ring built into it which is read by a wheel speed sensor which mounts in the hub.
Rear bearings causing ABS issues seems a common issue on the mk5.
So, I used VCDS Graph mode to log the wheel speed sensors:

Goto Module 03 - ABS, log group 1 and click Graph.
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2F18-02-2017_09-06-55_zpsj8bj2kea.png&hash=9ce901a0d84d670f8a5be07e1685b8cac7233a93)

Starting logging and drive at slow speed, approx 20mph.
The graph shows a line for each wheel speed sensor.
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2F18-02-2017_09-19-51_zpsarlcagro.png&hash=c0d64d1fbb7f13d6d0a9b3293ea0b2bc23ba138c)

You can clearly see, the rear right sensor is not consistent with the others.  :happy2:
So, I ordered a pair of rear wheel bearings, do them both at the same time.

Resolution
Now, on the Mk5 there are 2 options for rear wheel bearings, normally denoted by the internal diameter of the bearing, 30mm or 32mm.
It is possible to tell which you need, as they are physically different in appearance.

Jack up the rear of the car and look at the rear face of the hub.
This is mine (30mm) from the rear when mounted on the car (new one):
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170219_083033_zpstoxl9yu9.jpg&hash=4041df6404efbdbf82a761fa03431def95d93e50)

If you see a cast metal surface, you need 30mm (type 2 on picture below).
If you see a smooth metal surface, you need 32mm (type 1 on picture below)..
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2Fbearings_zpsojlcg63u.jpg&hash=6fdeb73a4cd40e60bb5ab6f676f0be07e54abd88)

I only now know this as the parts guy supplied me the wrong one, even after checking my reg no, and I obviously found out when the car is stripped down! :doh:
So I sourced a new set locally.

Old bearing before removal, its heavily corroded:
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_115020_zpsspooihkh.jpg&hash=0479cff6ad65f9da7c56169f0673d64ec2f0ea58)

Old bearing removed, you can see the actual speed sensor mounted through the hub:
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_142533_zpscmzgfka5.jpg&hash=b455a7fcb08fadb470220b4fcbcc4f3d11b2466d)

Here is the faulty rear right bearing. You can see the damage sensor coating that corresponds with the bad reading on the VCDS graph.
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_122906_zpstivzfjty.jpg&hash=6caf02496dc2591c232565760decbb3831ed965b)

I think this was was damaged as the speed sensor had been touch the surface of the bearing, wearing away the coating.
The speed sensor itself is moutned with a single torx screw, I think it had been overtighted, forcing the sensor further in.

New one:
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_142219_zpspnpf8p2t.jpg&hash=764fa851575968ee4d93303ad07274231335982c)

So, rear wheel bearings and sensors replaced.
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_145002_zpsd7f0l2t2.jpg&hash=ec25ec6de61a9ca9fa9c2389d6c51f4b5441807b)

Then I did another log of the speed sensors to prove the issue is resolved:
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2F23-02-2017_18-33-11_zps8tx1toy7.png&hash=e1b670c619da6b9dd59fdc57026bb1919dfa3a3e)

Basic Settings
Then I did basic settings as usual, this time everything went to plan:

First, Basic Setting for Sensor for Steering Angle (G85):
This is done from the ABS module, not Steering Assist.
http://wiki.ross-tech.com/wiki/index.php/VW_Golf_(1K)_Brake_Electronics_(MK60)

Then Steering Limit Stop Adaptation:
http://wiki.ross-tech.com/wiki/index.php/VW_Golf_(1K)_Steering_Assist#Steering_Limit_Stop_Adaptation

Finally, if you have the ABS test function activated, its easy to do if you are near a round about or have a large car park with no obstacles.
Press the brake pedal hard while stationary to start the test, the traction control liight will flash to signify the test has been strated.
Drive straight (towards the round about, no faster than 20mph).
Drive steadily around the round about, trying to keep the steering wheel at about 40 degrees. After about 5m of turning the lights should go out.
Here are the offical instructions:
http://wiki.ross-tech.com/wiki/index.php/ESP_System_Function_Test

Anyway, a bit of a pain, but all sorted, hope this helps someone!

Jas
 :jumping:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: 99hagued on February 24, 2017, 12:12:31 am
Good work mate, useful info  :happy2:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: grey golfster on February 24, 2017, 12:02:52 pm
Another example of this forum at it's very best!
Even down to the"resolved" in the header!
Top work, many thanks!

 :congrats:

This post alone should be worth a forum donation from a few of the tightwads out there!  :slap:
†********************************************************************************************
Dear Faithful Members,

It's time again for us to ask for your help, Our forum funds have run out again and we need your support to top up the kitty to keep the site running, and to maintain it's independence (from sponsors etc).

So please dig deep and drop some funds to the cause via the link above  :happy2:

https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=LGHF5VDSC6AQL
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: Tommihayes on March 10, 2017, 04:33:35 pm
Great post mate. I've got a plethora of abs errors and will be referring to this over the coming weeks! Great forum etiquette completing your work and completing the post.
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on March 10, 2017, 05:57:53 pm
No problem, I've gained plenty of help and knowledge by others doing the same, given I couldn't find much on this particular issue so hopefully it helps others.

Jas
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: doylebros on March 10, 2017, 07:09:01 pm
Well done to you :happy2:

I only hope a the Mods adds it to the following thread

http://www.mk5golfgti.co.uk/forum/index.php/topic,52731.0.html

So other members can find it to refer too, cause the wheel bearing size identification pointer alone will save so many people so much time!
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: mkmg76 on March 13, 2017, 12:55:19 pm
Excellent work and a very detailed write up. Well done.  :congrats:

If I may add for anyone who reads this in future, there are certain brands which supply the bearings without the extra detailing on the rear. Optimal is one and FEBI or Bendix are others so a visual inspection is not 100% confirmation of the type required. So really, your only option if you don't have access to an OE parts lookup service is measurement of the hub when the bearing is removed.

For details you might want to have a look at my thread for details. Page 3 in particular deals with these bearings specifically.

HTH  :happy2:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: Andy on March 13, 2017, 12:58:35 pm
Excellent news Jason and glad you got it sorted
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: v4rley on January 06, 2018, 02:53:35 pm
@jason_rmh (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=4481) thanks for this info  :notworthy:

Think I have the same issue a you, just wanted to see if you agree.

I had an issue with a rear wss which was changed and still persisted so my next route is to replace the hub / bearing. In the mean time I though I wouldn’t perform a battery drain test, I did this and upon reconnecting the battery i have been left with heavy steering and yellow wheel on the dash. The G85 doesn’t show any change when moving the wheel always showing 0 it won’t let me perform the basic setting. I tried by removing the wss code but still wouldn’t work but obviously you didn’t have a code either
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on January 06, 2018, 03:46:15 pm


@jason_rmh (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=4481) thanks for this info  :notworthy:

Think I have the same issue a you, just wanted to see if you agree.

I had an issue with a rear wss which was changed and still persisted so my next route is to replace the hub / bearing. In the mean time I though I wouldn’t perform a battery drain test, I did this and upon reconnecting the battery i have been left with heavy steering and yellow wheel on the dash. The G85 doesn’t show any change when moving the wheel always showing 0 it won’t let me perform the basic setting. I tried by removing the wss code but still wouldn’t work but obviously you didn’t have a code either

Sounds like a similar issue.
What lead you to replace the wheel speed sensor?
Also, did you check the loom to the sensors? The same symptoms can be caused by a broken wire to the wss.

Have you got vcds? If so, do a logging test as I did above, this will show if all wss are behaving correctly and identify the problem one, if any.

If one is not working correctly, you won't be able to do basic settings.
It's a pain, because something isn't right, but there are no errors to point you to the problem.

Jas
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: v4rley on January 06, 2018, 04:40:03 pm
Wow what a response time.  :happy2:

I got code 00290 for rear left G46 failure, when removed it was worn on the tip and suspect the abs ring is corroded didn’t inspect the loom.
I have a noisy wheel bearing and typically changed the rear right bearing last year but obviously was the wrong one.

Yeah will do some logging at some point, bit fed up with vcds as been on it most of last night and today trying to do basic settings even tried a know working G85.

Just didn’t expect the rear to have any effect on the front steering bit guess the system all one. Thanks will report back once new bearing fitted
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on January 06, 2018, 05:34:14 pm
It all seems to be black magic, but the wss on all wheels seems to be needed by the abs unit which in turn is required for power steering, traction control etc.

Hopefully the log will show a dodgy reading from the suspect bearing to help pinpoint the issue.

It took me a good few days of head scratching to get to the end result.

Keep us posted!
Jas
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on January 06, 2018, 05:38:48 pm
One other point has come to mind on the abs ring itself. You'll probably notice when you take it off, it should be a solid black ring which is sensed by the wss.
On my faulty bearing, the ring was broken in places as if it has cracked up and parts fallen away, causing the dodgy reading which showed up on the logs.
(https://www.mk5golfgti.co.uk/forum/proxy.php?request=http%3A%2F%2Fdaz.co%2Fmedia%2Fax_jas%2FVCDS%2FIMG_20170218_122906_zpstivzfjty.jpg&hash=6caf02496dc2591c232565760decbb3831ed965b)

So either of the following could give the same symptoms, which should show on the vcds logging graph:
Faulty wss
Broken wire in loom to wss
Damaged / worn abs ring

The good thing is, if the data log does show the above, it takes the guess work away allowing you to quickly resolve the issue by replacing which ever part is the problem.

Jas
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jhook661 on January 07, 2018, 09:18:13 am
Definitely worth a sticky I reckon @jason_rmh (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=4481) top work   :happy2:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: v4rley on January 10, 2018, 08:22:15 pm
@jason_rmh (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=4481)

Changed the bearing today and fixed  :notworthy:
Changed the bearing and went for a drive, the wss fault cleared itself but I was still struggling with the steering not wanting to budge. So I ran the above check for all the wss and they were all correct. I then finally got the steering light off and steering back to normal, but my eps and tpms was illuminated. Nervous of loosing my steering setting again I was hesitant of looking to address them again, I did with limit stop and they went but my steering went again :scared: but drove and did limit stop and all gone. Thanks so much for this insight Jason it gave me the drive I needed  :happy2:

@dazza (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=10457) as above, can we sticky this as the problem is only going to become more of an issue as more bearing age.
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: jason_rmh on January 10, 2018, 08:36:01 pm
That's great @v4rley! Glad you got it sorted, happy to help :)

What state was your old bearing in? Was the sensor ring damaged / worn?

Jas
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: dazza on January 10, 2018, 08:36:29 pm

@dazza (http://www.mk5golfgti.co.uk/forum/index.php?action=profile;u=10457) as above, can we sticky this as the problem is only going to become more of an issue as more bearing age.

 :happy2:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: v4rley on January 10, 2018, 08:59:59 pm
Yes the old one was much the same as your badly worn with some parts missing. Also there is a rattle from the ball bearings when shacking it so good job done
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: eb198 on February 27, 2018, 03:38:04 pm
top write up cheers  :happy2:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: GVK on April 21, 2018, 08:49:47 pm
Thanks for the write up, helped me identify my issues.  :congrats:
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: vernychops on August 13, 2020, 09:00:01 pm
So when your battery goes flat it breaks the bearings?
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: BGBlaze on March 09, 2022, 10:19:51 pm
Hello guys. Do not spam because of bumping 5year old thresd pls!

Problem: Steering angle sensor (G85) not initialised , steering wheel live data, always show 0deg, in ABS and Steering assist module. ESP and Steering wheel warning lamps are ON.

I'm trying to fix this for 2 months now. I can confirm that the correct procedure for Steering Angle Sensor setup, has 3 steps:
1.CALIBRATION: Go to ABS > Login 40168 > Basic settings> (Steering angle sensor calibration (G85) *channel 60 >
2.INITIALISATION: Drive about 20meters, without wheelspin, no wheel turning needed-if do so, it is not a problem, if all ABS sensors and ESP sensors are good = ESP light goes off, and in ABS > Meas.blocks > steering angle degrees can be seen as steering wheel rotates.
3.STEERING LIMIT: With engine running > turn steering wheeel full left, wait 5 secs > turn full right, wait 5secs > center steering wheel = Steering wheel warning light goes off.

...but this can't work on my MK5!

I have Golf mk5 with same issue as OP. Still no success with SAS initialisation!
Car: MK5 2004
ABS: MK60 (1K0 907 379 K)  Coding: 00021122
SCM Steering column module 3pcs: (1K0 953 549 A / AM / AP)  Coding: 0000042
SAS Steering angle sensors (G85) 3pcs
Steering rack: (1K0 909 144 G) Coding: -b-l-a-n-k-

I got Touran also. Disassembled both cars and tried many combinations. In result: all SCM works, with all SAS in the Touran. BUT not in Mk5. Initialisation can not be completed.
Checked wheel speed sensors and wiring to abs 2 times = all good
Checked wheel speed sensors readings in abs ch01, also in graphic mode = all good, with max differences of 1km/h between sensors
Checked wheel bearings - replaced 2 rear , just to be sure
Compared wheel speed data from Touran and MK5 = same, not more differnce than 1km/h between wheels
Recoded ABS unit with differen codings = no success, but got errors "incorect coding"
Steering assist module report errors:
-------------------------------------------------
02546 - Steering Limit Stop
   005 - No or incorrect basic setting / adaptation

00778 - Steering Angle Sensor (G85)
   000 - -
-------------------------------------------------

ABS module has NO errors , but on meas. blocks  , i do not remember channel- it says Steering angle / notInit
In channel 04 Steering wheel shows 0deg.

tried 20 times > login> basic settings = says OK, no errors, driven the car shotrly, straight, with turns.... but can not initialise the angle sensor.

I'm ready to sell the car to scrapyard, any advices will be appreciated.

I have VCDS HEX CAN 20.1 , VAG CAN , ODIS , MPPS v21.
I'm about to reflash firmware fo SCM and stering rack with ODIS. Not sure why, but no other ideas.

Can the steering rack somehow prevent steering angle sensor from Initialising ?
I have repaired, rewired and reflashed MK60 abs modules (they are pain in...) but thgat does not seems to be an issue here.

I have seen 2 types of slip rings, with different pin arrangement for steering measurement! Is it possible to have any problem there ? But, both on MK5 and Touran slip rings are absolutely the same , in Touran all works good, in MK5..... do not!

I have log files, graphs, reports. IF anyone think those can help- i will upload .
Title: Re: **RESOLVED** Unable to complete Steering Limit Stop Adaption
Post by: BGBlaze on March 13, 2022, 01:35:07 pm
I'm sharing my SOLUTION in new post so it can be seen easily!

My problem was so...simple and stupid.

04-Steering Angle  and  16-Steering wheel  was unchecked/disabled in Can gateway. Why and how...noone knows.

I saw it after making 30th Auto scan, and it shows both modules with errors or not registered, which means that they are disabled in CAN gateway. I hate myself for spending 2 months and unsee this !!!

So there is my simple recommendation about checking Steering angle sensor and adjusting it in 1 GO :

>>>>>>>>>> Preparation <<<<<<<<<<
1. Start the engine ! Park on level surface with 80-100m straight path , where can drive with 20-30km/h !
2. Go to ABS > Meas blocks > Ch1 , click on Graph button.
3. Drive straight WITHOUT wheel spin, reach ~30km/h, stop and drive back.
4. Check the graph for ABS sensors that are going bad by showing peaks in graph. If there are such - Check, clean, replace sensor/ bearing! There can be issue/peaks with sensors but no error code in ABS ! ! !
5. Check in CAN gateway if both 04-Steering sensor and 16-Steering electronics are ENABLED
6. Check for errors in ABS, and if there are no ABS/ESP related errors, except: Steering angle sensor (G85) No or incorrect basic settings Continue below.

>>>>>>>> G85 Calibration, basic settings <<<<<<<<<<

> Go to  ABS
> [Coding-II - 11]
> enter 40168 and [Do it!]
> [Basic Settings - 04]
> From dropdown menu choose Steering angle sensor (g85) calibration, or just write and go to channel 60
> After a successful basic setting, field 2 should say "OK".

--- if it says not available or anything else, try again with slight 1-2deg movement of steering wheel , if it keep saying NOT AVAILABLE = your 16-Steering module is not compatible with your Slip ring. I have tested this and there are compability between those parts and must be pointed out! There are 2 versions of Modules and 2 versions of Sliprings. It has nothing to do with G85 itself, but problem is what 16-Steering module is expecting to see depending on ver.1 or ver.2 slipring teeths!

> After successful basic settings show OK, [Done, Go Back] > [Close Controller, Go Back - 06]

>>>>>> G85 Initialisation <<<<<<<

Engage 1st gear and drive straight +- 1.5deg on steering wheel, until you reach 30km/h WITHOUT wheel spin ! And ESP light should go off. That shows Propper G85 Initialisation .

>>>>>>>> 44 - Steering assist adaptation <<<<<<<<<
*Can be done after reseting ignition or driving car. It is separate process.

With steering wheel in 0 +-1.5deg straight, start the engine, rotate fully left , hold 5 secs > rotate fully right and hold 5 secs > turn left to 0deg and  Steering assist indicator should go off and it is all done.

Here you can check your steering module version, so you know what slip ring you need, to be able to calibrate G85:
http://wiki.ross-tech.com/wiki/index.php/Steering_Wheel_Control_Module_Versions

This is picture of 2 types of Slip rings. On the RIGHT type1. On the LEFT Type.2
(https://i.ibb.co/y8QzxJs/Slip-rings-1-K-golf.jpg)

Steering electronics module types 1 and 2:
(https://i.ibb.co/4SW4Sg2/Steering-modules-1-K.jpg)