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Q:

Trans stuck in limp mode on 2002 Audi A6 Quattro

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What is the main cause for a trans to get stuck in limp mode? Can you use a regular OBD2 scanner to pull codes or is the dealer the only one that can get them?
(2) Answers
Very Bad Things. You should have a Check Engine light. Go to a major chain auto parts store and they should read the code for free. or you can buy a DIY scanner tool to repair it.
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Most automatic transmissions will go into limp mode when their is an internal problem. The OBD2 scanner would not help as you need to test and comand specific fuction within the tranny to determine the issues.