ABS light on, what diagnostic tool?

The ABS light on my 2002 160 came on last week and stayed on. I've checked the resistance of the sensors and they’re all within a few percent of each other.



I plan to check the reluctor rings today but was hoping there might be a more scientific approach.



I've got access to an ACR4 with a Rover 3 module and a 30214000 cable, this does engine related tests but not ABS, I’ve also got a generic EOBD scanner, this won’t help with ABS either.



What do I need to read codes from the ABS?

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