Hello , thanks for your question in the autoaid Community.
Your described fault Code means: communication fault with ABS ESP
There is a communication fault, check the plug from the ABS ECU. Plug it off and reconnect this.
But there is an other faultcode, this means the mechatronic is faulty, so i think there is an mechanical error in the mechatronic engine for the parking brake. So you should renew this parking brake mechatronic engine.