ABS codes don't come up on an ODBII scanner. You have to use an ABS code scanner.
So what exactly is the problem? Do you feel anything when you hit the brakes? Do any of the cels come up? Does your cruise control still work ok?
The problem is pretty much as described above and in the links that were also provided to me earlier above. ABS comes on under normal weather and breaking conditions at low speeds. Upon initial application the break feels smooth, but near stopping, ABS starts popping under my foot. Cruise control works fine. (I just came back from Atlantic City drive - about 2000km - 1200 miles).
I think I'll pull the sensors, one by one, and clean any metal fillings first, because I cannot tell from which tire the ABS is being triggered. If I can see the teeth through the mounting, after removing the sensor, I'll check for corosion. Will the ABS code scanner, you referred to, indicate which tire / sensor is being triggered? Remember that my ABS light is not on.