If you have the 20 pins connector in the engine bay, use the 20 pins connector to access all the modules. If you don't have the 20 pins connector, all modules can be access through the OBD II connector under the steering wheel (at least that the location for LHD vehicles).

Seeing that you have a Model Year 2002 I kinda doubt that you will have the 20 pins connector in the engine bay, but I'm not that familiar with Euro Xs.

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