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I don't believe you can pull the codes w/ a OBDII scanner.
Download the FSM ( its free- do a search) there is a section that tells you how to pulls codes from the ABS/TCS module, it involves grounding one of the leads of the OBDII port. Its fairly easy to do, pretty comprehensive and will give you the reason why the light is on. the fact that the light is on means that somthing is wrong/broke, since everytime you start your car the ABS module does a self diagnostic - if everthing is OK no light...if somthing is wrong it illuminates the ABS light.
I had to do this recently, i left my car sitting in the garage for 2 months, during that time for reasons i dont understand my front right abs sensor broke- $130 from daveB
And Irish is right somtimes those sensors will seize right to the spindle - i had to drill out the old one w/ a 5/8" bit then grind off the remainig bits stuck to the cavity.
goodluck
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