I have a code P061A on an E550 Cabriolet
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For a torque fault you "should" have to drive it to trigger it. Anything is possible with codes, especially if the ECU is screwed up, but I'd say it can't detect a torque fault unless there's torque to look at.
When mine gave me that code it was because I made a fairly serious error tampering with the programming, the torque calculation to be specific. So the numbers were way off and that's the code I got. My torque calcs are still off, but apparently well within the limits because I have not tripped that code since.
So if it's in question, I'd clear the code with the engine Off, then scan again to see if it really cleared. Then turn the Ign Off and back On and check again. Then start it and check. Drive it and check until you can get it to appear. When mind did it I had to give it a fair amount of gas before I got the code. Mine didn't go into limp mode either, it basically shutdown power altogether and I had to pull over right then. It would idle, badly, but not driveable at all.
If the code is truly stuck On then I suppose I'd do a reset, by unplugging the battery for a bit. I suppose an hour? I'd do overnight just to be sure. I suggest you close the doors with the windows up before unplugging the batt, because on mine it is screws up one or two window settings and sometimes it's not so easy get it working again. So far, with the doors closed and windows up, settings stayed intact.
I'd also check for oil in the ECU plug. You have an M278 engine right? They do that, and once the oil get to that point, and is on the other wires in the plug, or into the ECU, there's no telling what it might do. The oil comes from the Cam sensors and/or solenoids. Two of my Cam sensors were leaking and oil headed for the ECU, but it never got that far. Apparently it's like $7k to fix, by replacing the wiring harness. F that, I simply sucked the oil out of the wires. If I had oil in the ECU I would just open it up and clean it out.
If you have a way to check, you might look at things like pressures, temps and anything else you can see. I have an Autel MaxiAP AP200, which is pretty powerful for the $70 it costs. Or break down and buy an Xentry setup, which is like $500. I have both but all I really use is the Autel, which 99% of the time I only use to clear difficult codes because my other scan tool cannot clear some.
That's all I can think of...
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