ESP Warning Lamp

WARNING: This page is about a different car, the 2018 Hyundai Accent. However, it is still accessible from the selected car via links, so may be relevant.

The active ESP warning lamp indicates the self-test and failure status of the ABS. The ABS warning lamp shall be on:

During the initialization phase after IGN ON. (continuously 3 seconds).
In the event of inhibition of ESP functions by failure.
During diagnostic mode.
When the ECU Connector is separated from ECU.