The E320 in that year range upto approx 2005 uses an auxiliary battery to operate the brake pump when main battery supply was lost or low. The low battery warning you describe can be caused by the aux battery being low. This battery is a small 7Ah battery mounted under the pollen filter in the engine area.
SOURCE: 2003 E320
My car keeps displaying a picture of a battery Visit Workshop. How do I clear the code?
Your battery are okay but you may have an alternator/generator problem, it's not charging back electricity to the battery. That's the common interpretation of that battery warning light on the dash...
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