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Sorted mine tonight.

Turn the wheel to full lock to the left to expose the front left wheels brake caliper.
Take apart the electrical connector that joins the van loom to the brake pad sensor (a tiny careful spray of wd40 helped here)
Bridge the two exposed female pins in the loom, turn key on and see if beep has gone away! (In not, it's the rear right caliper or a loom issue elsewhere)

Options:
A) bodge a paperclip or wire in to bridge the connector pins
B) use an evil scotch lock to bridge the wires on the brake pad sensor loom (my discovery today, super easy)
C) cut brake pad sensor wires and twist together

Should solve it either way

Ben
 

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Missed a step.. may help to Jack the van up to the corner you're working on slightly to aid clearance if you're lowered.
 

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Just got my first T4, a 2001 Caravelle, and it had brake wear warning light on. Front NS loom was cut under wheel arch but had volts so I twisted wires but still got light. Rear OS wiring looked good but no volts at 2 pin connector on loom which means a loom fault somewhere.
The wiring is closed circuit from dash display through rear OS pad and front NS pad then to earth. Any break in the circuit (such as worn pads cutting the sensor wire) causes light to show. Trying to find a break in the loom and then fixing it is a nightmare, so if you are happy to do away with the warning and rely on routine manual checks for pad replacement here is a permanent old school fix.
If you scrabble around under the dash to the right of the steering column, you'll find a whole mess of wires behind the relay panel/fuse board. It helps if you are a very small contortionist, but is easier if you take off the fuse panel cover, remove the reinforcement plate(3x13mm fixings) and unclip the relay panel and pull it forwards. Somewhere over towards the steering column you'll find a loose single connector with a thin brown/green wire on one side and a brown/white on the other. The brown/white goes to the warning light and the brown/green goes to the wear sensors. Cut the brown/green a bit away from the connector, tape the loose end and forget it. On the connector side add a new bit of wire to the stub of brown/green and earth it, under the 13mm nut on the reinforcement plate is good.
No more beeping at switch on, no persistent warning light, but remember to do your manual checks on pad wear at service time and don't order pads with sensor wires when they need replacing. To tidy up you could cut the wear sensor connectors off the loom under the FNS and ROS wings, but get the right ones, don't cut the ABS sensor wires!
 

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Yeah u can do that or get a laptop, lead and vcds lite and program out the brake warning light from the ecu. Takes about 3 minutes. Did mine first time ever in that time. Easy.
 
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