Bas light on - Mercedes-Benz Cars & Trucks

Question edited for a lot more clarity.
Question moved to model category.

Did you have the radio or CD on when you were doing all this work? Low battery voltage can cause it along with other reasons.

https://www.google.com/search?q=1999+E320+BAS+ASR+light+on

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have vehicle for trouble code

An Electronic Stability Program (ESP)/Brake Assist System (BAS) indicator is standard equipment on all instrument clusters. The ESP/BAS indicator is serviced as a unit with the instrument cluster.
The ESP/BAS indicator gives an indication to the vehicle operator when the Electronic Stability Program (ESP)/Brake Assist System (BAS) has been activated. This indicator is controlled by a transistor on the instrument cluster circuit board based upon cluster programming and electronic messages received by the cluster from the Controller Antilock Brake (CAB) and the Transmission Control Module (TCM) over the Controller Area Network (CAN) data bus.
The ESP/BAS indicator Light Emitting Diode (LED) is completely controlled by the instrument cluster logic circuit, and that logic will only allow this indicator to operate when the instrument cluster receives a battery current input on the fused ignition switch output (run-start) circuit. Therefore, the LED will always be OFF when the ignition switch is in any position except ON or START. The LED only illuminates when it is provided a path to ground by the instrument cluster transistor. The instrument cluster will turn ON the ESP/BAS indicator for the following reasons:

1. Bulb Test- Each time the ignition switch is turned to the ON position the ESP/BAS indicator is illuminated for about four seconds as a bulb test.
2. ESP/BAS Indicator Lamp-On Message- Each time the cluster receives an electronic ESP/BAS indicator lamp-ON message from the CAB indicating that the ESP/BAS system has been activated, the ESP/BAS indicator will be illuminated. The indicator remains illuminated until the cluster receives a lamp-OFF message from the CAB, or until the ignition switch is turned to the OFF position, whichever occurs first.
3. ESP Full Off Textual Message- Each time the cluster receives an electronic ESP Full OFF indicator lamp-ON message from the CAB indicating that the ESP/BAS system has been manually disabled, an ESP OFF textual message will appear within the cluster odometer display. The ESP OFF textual message remains displayed until the cluster receives a lamp-OFF message from the CAB, or until the ignition switch is turned to the OFF position, whichever occurs first.
4. Actuator Test- Each time the cluster is put through the actuator test, the ESP/BAS indicator will be turned ON, then OFF again during the bulb check portion of the test to confirm the functionality of the LED and the cluster control circuitry.

The CAB continually monitors the ESP/BAS circuits and sensors to decide whether the system is in good operating condition and the proper outputs to the components of the system. The CAB then sends the proper lamp-ON or lamp-OFF message to the Electro Mechanical Instrument Cluster (EMIC) (also known as the Cab Compartment Node/CCN).
For proper diagnosis of the ESP/BAS system, the CAB, the TCM, the EMIC, the CAN data bus or the electronic communication related to the ESP/BAS indicator operation a diagnostic scan tool is required. Refer to the appropriate diagnostic information.

yes

Your Bas & Esp Light is on due to a failing or already failed Bas sensor & Esp Sensor, You can either do it yourself which can be very tricky if you are not confident with automobile repairs. The dealer should be able to do this at a reasonable price as it should take around an hour to do the repairs. If the problem keeps arising there could be a problem elsewhere that is connected to the same area & is shorting out.

I hope this helps.

the bas warning light is on along with the ets warning light, how to I repair the problem? The code reader indicates that it a sppeed sensor.

ESP = Electronic Stability Program
BAS = Brake Assist System

brake light switch ,that's the part you need to replace to fix that BAS/ASR light. It's a $20 US part, a screwdriver, and 15 minutes to fix.

why my bas light come on?

ABS--BAS

Most likely cause is the 'stop lamp switch'
It is a electric switch located on the brake pedal inside the car, about half way up on the brake pedal.
Pretty cheap too, I think the switch is only like $25 bucks.
2 connectors on the switch and then it turns out.
hope that helps