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For those guys want self Code it:
NCS-Expert
1. Change VO to add $2MD in CAS & NFRM (NFRM updates FRM automatically) [modules that store the VO] using NCS Expertmode (Read VIN & VO, Update VO with $2MD, Write VO to ECU's using FA_WRITE) - <F1><F3><F2><F6><F4><F2>FA_WRITE<F3> for each of the 3 modules.
2. Process car using NCS Expertmode to set factory defaults for updated VO (Read VIN & VO, Process Car) <F1><F3><F6><F3>Process Car<F1>Code Car.
If stuck on most2 just Code all other modules with clear man file
Ediabas:
3. Reset steering angle sensor using Tool32 DSC_87.prg lenkwinkel_dsc_abgleichen.
4. Reset any faults using INPA <F9> E90 Functional Jobs <F4> <F2> Clear Error Memory.
Done with k+d-can cable just few minutes ago
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