Well I am getting a code 07 on mine, and usually a b8 (intake cam Vanos position control cyl 1-4) for good measure. One time I did not get the b8 so I'm assuming if I replace the intake CPS for cyl 1-4 the other code will go away.
In researching other threads on CPS, it looks like replacing the CPS may also help with the code A2 that you are seeing.
TECH: Replacing intake Camshaft Position Sensor...
post #18 mentions:
"Dropped my Beast of at the dealer.. and guess what. The Computer readout said: Signal, Camshaft sensor, exhaust, bank 1 and camshaft sensor, bank 1, synchronisation to crankshaft."
Then in post #19 he reports that after replacing the exhaust CPS on bank 1 that it worked and he doesn't mention the other code.
Now, I'm not an expert on this stuff, and I don't know what to tell you as to which CPS to replace. Anecdotally from that thread it seems the exhaust CPS is the one. But I don't know for sure. It would suck to replace one and have that not fix it. But you could replace both on that side to be safe. Maybe somone else can chime in with more info to save you the $$.
I think I've reached the end of my usefulness on this for you unless you are throwing a specific CPS code along with that A2 code.
. I know it's on the left side, but have no idea if it's intake or exhaust. Folks in postings seem to talk about the two interchageably. The dealer just quoted me $300 for either part (I saw that Pacific has them for around $100 in a post), so I don't want to replace both.
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Linear Mode
