Safety mode hold light

[Mattca]

Hi all,
I hope someone may be able to help, I have a 2002 petrol aero bongo - auto.
I have searched the forum on the flashing hold light issue, but not seen my symptoms. My bongo goes into safety mode and shows the steady flashing hold light after I have been driving for a while staying in drive with no problems, then when I select reverse and then go back into drive. The bongo goes into safety mode.
I have tried to find the fault codes but does not refer the codes on the fact sheet, I get the following 15, 1 or 10, 17 or 27.

Any help welcomed
Thanks