My 52 plate tdi start playing up last week when I started I think it from cold it had terrible revs and idling then the abs light and the eps light would light up , when I tried to move off red warning and beeping apppered on the screen , after struggling for about a mile or two I'd stop switch off , then restart and it would work fine with no lights etc , only does when engine cold , changed glow plugs this week but still doing it so I got a vagcom scan earlier today and this is the results ,