I had my ASR light and SRS light come on with start up. The car would go in to the Limp home mode. The dealer said the codes indicated a faulty Electronic fuel regulator that cost about $600.00.

I knew the battery was old since I bought a 96 SL500 with 21,000 miles. I decided to get the battery checked and the crank voltage was low. I replaced the battery with an Auto Zone, reset the codes as described in the book and have not had a light come on since.