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The abs light is staying on, because one of the four (4) abs sensors are bad. There is an abs sensor hooked up behind each of the wheels near the brakes to tell the computer when to apply the right amount of brakes depending on how they are applied. Typically, you can have your auto mechanic, local dealership or local parts shop hook up the scanner on your vehicle and they could tell you exactly what is wrong with it.
yes it is safe -your brakes will work normally only difference u will see is if u hit[stomp] on the brake hard will cause wheels to lock up[skid] check the sensors wiring ,connections and connection to clips the sensor is incorporated into the wheel hub but the wiring and clips connections are exposed which can get damaged or hit by road debris -if u remove the wheel will see wire running into back of rotor --to replace will have to replace the whole hub[wheel bearing] average price about $80 for part if diy