Vauxhall Zafira emition light

Have you cleaned out the inlet manifold as this can become 'gunked' up overtime. Very easy to do but you will need a new gasket and a tin of carb cleaner. I had a similar problem and it was covered in black sticky deposits. No problems since. Good luck

Have you had a look at this similar problem: intermitant miss fire

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we had same problem however after changing both lamba sensors which give po140 error on veh even after changing ran it for a week cleared it using a garage reset diagnostic unit but had to then reset the veh by manual reset this is done by pushing down accelerator and brake together same time turn ignition to on but dont fire it up then engine management light will flash 3 times and fault code illuminates where milage reading should be hold down the reste milage button on speedo for 10 seconds let go turn ignition to off then leave for a few seconds restart car and fire engine up the management light will illuminate after a short while 5 to 10 mins the light will go out as ours did we have had no problems since let me know how you get on