How to reset ABS Light?
OK...here's the procedure from the Helm's manual:
1) With the ignition switch OFF, ground out the SCS using a jumper on the Data Link Connector (DLC). See the following for instructions...it is the same procedure that is used to pull the blinking CEL codes:
http://www.modifry.com/freebies/old/dtc/index.htm
Here is a pic of the jumper:

2) Press the brake pedal and HOLD.
3) Turn the ignition switch ON (position II) while continuing to hold the brake pedal.
4) After the ABS indicator goes off, release the brake pedal.
5) After the ABS indicator comes back on, press the brake pedal again.
6) After the ABS indicator goes off again, release the brake pedal.
1) With the ignition switch OFF, ground out the SCS using a jumper on the Data Link Connector (DLC). See the following for instructions...it is the same procedure that is used to pull the blinking CEL codes:
http://www.modifry.com/freebies/old/dtc/index.htm
Here is a pic of the jumper:

2) Press the brake pedal and HOLD.
3) Turn the ignition switch ON (position II) while continuing to hold the brake pedal.
4) After the ABS indicator goes off, release the brake pedal.
5) After the ABS indicator comes back on, press the brake pedal again.
6) After the ABS indicator goes off again, release the brake pedal.
My apologies to dig up such an old thread, but this seemed like the best place to add some extra information.
I tried to read out the ABS codes and reset the ABS fault. Jumped pin 4 and 9 as shown here but it didn't work. Removed the ODB-II connector on my MY00 S2000 and noticed that pin 9 did not have a wire hooked up. Maybe a previous owner removed it for some reason, maybe it came from the factory like this.
Either way, grounding the brown wire on the ECU pin 1 as instructed by the Modifry link did work.
Also, if you disconnect one of the ABS sensors, you might get more fault codes then just that one sensor being 'open'. So if you have an open sensor code, fix that one first before moving on to the other ones.
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