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An ABS light that is stuck on doesn't necessarily mean you need an abs repair. The light could be triggered by issues other than problems with anti lock brakes. The light staying on could be caused by something simple as the handbrake or more complicated things like loss of brake fluid and pressure or bad hydraulic valves.
The ABS warning light is on because there is a fault in the anti-lock braking system(ABS) and the system is no longer operational. This does not affect the normal braking of the vehicle. But if you lock up the wheels under heavy braking, with an inactive ABS in your car, there is no system to release brake pressure and allow the wheels to rotate and regain tire grip .
The most likely cause of the fault is a failure of one or more of the wheels speed sensors. Until the fault is rectified the warning light will remain.
take it to an accredited brake specialist shop
I suspect that the brake booster is becoming defective and the small application to the pedal causes excessive booster reaction
the abs section only maintains applied brake fluid pressure as set by the position of the pedal
that is to maintain the pressure as the stopping and start movement of a skidding wheel opens and closes a valve to that wheel /s
if you are on ice that sudden hard braking will cause the wheels to lock and immediately the abs cuts in to allow the wheels to turn and then to allow brake action to be reapplied
if the abs is working under brakes you will get a pulsating feeling under your foot as the fluid pressure is alternation between full on and released by the abs valves
this may sound silly but have you checked the fluid level in the master cylinder? They do have a level sensor in there and will cause your symptom, more so under braking or heavy accel, also the e-brake pedal switch can cause this, if the pedal is falling under heavy braking the switch could illuminate the light, then the abs light will come on if vehicle still sees e-brake is on and the is still a speed signal recieved by the abs.
If the ABS light stays on after you start the engine there is a problem with the ABS system, there are small sensor on each wheel and when they get dirty you will bet a steady ABS light. If it comes on when you are stopping on snow, ice or rain, it is probably OK.
When the ABS light is on the ABS system is deactivated. Meaning, when the abs is light is on and you brake, the tires will lock up with heavy braking.
Escapes have a common issue of the ABS excitor rings cracking causing ABS problems. Sometimes it activates on almost every brake application. It may set a code in the ABS computer for an intermitten wheel speed sensor or no wheel speed signal. Check all the "rings" on the outside of all four axleshafts. If none of the rings are cracked it is likely a bad ABS wheel speed sensor.