ABS/ESP Bosch 5.3 Elements and Their Location (Audi A6 C5)

1.0a ABS/ESP Bosch 5.3 elements and their location:
1 - modulator pump. Only on cars with ESP
2 - modulator pump pressure sensor. Only on cars with ESP
3 - return pump relay
4 - relay of electromagnetic valves of the modulator
5 - ABS modulator and control unit
6 - brake fluid level sensor
7 - Front right wheel ABS sensor gear
8 - Front right wheel speed sensor
9 - ESP control unit
10 - ASR/ESP switch
11 - steering wheel angle sensor
12 - Parking brake switch
13 - Rear right wheel ABS sensor gear
14- rear right wheel speed sensor
15 - rear left wheel speed sensor
16 - Rear left wheel ABS sensor gear
17 - sensor of the speed of rotation of the vehicle relative to the longitudinal axis
18 - Lateral acceleration sensor
19 - return pump relay
20 - relay of electromagnetic valves of the modulator
21 - brake system warning light
22 - ABS warning light
23 - Parking brake indicator light
24 - ASR/ESP indicator light
25 - brake light switch
26 - Front left wheel ABS sensor gear
27 - Front left wheel speed sensor