Klaus -
ABS, Tracs and Check Engine lights came on. Pulled my original control unit out and sent it for an upgrade.
Reinstalled the upgraded control unit. Same lights came on. Had mechanic check wheel sensors with ohm meter - no problems. Had dealership check. Dealership also found no problem with wheel sensors. Read code as 0021 on vadis system (problem with right front wheel sensor). Dealership maintains this is an internal fault in the abs control unit.
Removed upgraded original control unit and swapped it with a second upgraded control unit. Same lights came on. (kinda sounds like the control unit is okay doesn't it??).
Went back to the dealership for their take. They want to swap the second upgraded unit with their new one and go from there. Already paid this dealership once for diagnostics. Don't know why they didn't find the problem the first time. I think it's something else besides the abs control unit, but what??
Thanks for your help.
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