Had the same fault reset on my Espace 2.2dt last week long and short answer is that I spent hours looking for a fault side airbags,clockspring,passenger airbags,pretensioners,that was no longer present ie I think there had been a problem with the side bags and the code had been logged.On the espace it requires to be reset with a can clip ,it cost me £90.I was under the impression once a fault was cleared so did the warning, apparently not the case.The connectors under the seats, I cut off the connectors ,soldered the wires together and covered with heat shrink,leaving the pretensioners and airbags in circuit obviously,you can't short any of the parts out the ecu is looking for the resistance of the components on self test,and I would assume could lead to damage of the ECU.Remember to take precautions when checking the airbag components.Think in the end without the proper equipment ie xr25 or suitable canclip you can only check really for disconnection of plugs/sockets,broken cables etc, once you've done that you're forced to visit a garage with suitable equipment,you are left in the position like me where you have cleared the fault but are unaware of that because the screen is telling you otherwise.Good Luck
Kind Regards