Hi, this fault has been happening on and off for about a year now, customer description of fault is ESP light comes on, no power at throttle, engine revs up and down slightly, switch ignition off then restarts ok and continues journey. It happens now couple of times a week driving locally.
I have driven about 80 miles and the fault has not occurred.
Using Verus
Fault code logged in ESP is C1024 CAN communication with engine system faulty.

Engine DTC's
P2001 M16/6 throttle valve actuator
P2009 M16/6 throttle valve potentiometer
P200B B6/1camshaft hall sensor
P2013 B18 altitude pressure sensor
P2032 N16/6 throttle valve actuator

Instrument panel DTC's
B115 fault in CAN comms with control unit AAC
B1129 fault in CAN comms with control module COMMAND or AUDIO
B112E ROM: read error

Customer changed the throttle body for a secondhand one 6 months ago and same fault still occurred.

If the ESP CAN signal is being lost could this be causing the throttle body codes?

Using the Pico CAN box plugged into the DLC I measured 17.3 Megohms across pins 6 and 14?
I then scoped the signal and got the trace below.


The bad trace is presumably due to the very high resistance I got across 14 and 6.

Unplugging the engine ECU and ESP/ABS ECU made no difference to the resistance or trace.
With the engine ECU unplugged I measured the CAN resistance at the plug at 120 ohms and this stayed at this value with the ESP/ABS unit plugged in or unplugged.
Unplugging the ESP/ABS ECU and measuring the CAN resistance at this plug it was 120 ohms with the engine ECU unplugged and 60 ohms when plugged in.
Continuity between engine and ESP/ABS ECU CAN wires is good.
Could this point to a faulty ESP/ABS unit or a wiring fault?

As you can probably tell my experience with CAN is fairly limited at the moment so if anyone can point me in a useful direction with this vehicle I would very much appreciate it.
Apologies for long post.
Any recommendations for good CAN BUS course in the south as well please.

Thanks for your time, Martin.