Since I have addressed the topic of feedback, I also want to make my contribution to the solutions:
Many have the problem that after driving off and first time braking the brake pedal rattles and then touches the ABS lamp. No entries for ABS in the error memory
Here's my solution that worked for me:
One-back seat out.
2- Stechker from the ABS control unit and each sensor measured on passage. If there is no passage with him, it is the guilty. If all IOs continue (was the case with me)
3-car raised with the stage that all the wheels are in the air.
4-motor on and gear in, see if all wheels rotate about the same fast. On the occasion you can see whether the brake is stuck somewhere or wheel bearings are getting old.
Set 5-meter to the smallest AC voltage and measure each sensor on the disconnected plug. With me were values of approx.~0.6V. The sensor with the smallest voltage is it. Even better if someone has an Oszi at hand, you can compare the signal much better.
After diving the sensor no longer saw an ABS lamp light up and ABS works exemplary (tested on Nasser Straße)
Good luck bwim try
