Interesting ABS info . You might find this useful.

[driftin jo]

Has anybody ever had a a slow speed abs problem , the abs kicking in just as you are coming to a stand still, even though you know that you are not pressing the brake pedal anywhere near hard enough to lock the wheels ?
Well I've had this on my S2 since I've had it and have had it on a few other old AUDI cars I have had.
This problem does not show as a fault and changing wheel sensors or anything else on the ABS system does not cure it.

If like me you have had this you may find this very interesting .

The other day I set about the messy task of changing a CV boot which had split .
Anyway whilst doing the job when I had the CV joint off I noticed that the ABS sensor teeth on the joint had quite a lot of rust between some of them.
I started to wonder if this was enough to mess up the signal that the wheel sensor generates . Anyway I gave it a wizz with a wire brush attachment on my drill and cleaned it up good .

Put the car back together and went for a test drive and voilà the abs problem has gone
Needless to say I was made up, if you have this problem you may find this is what you need to do to fix it and even if you don't have any ABS problems but you have the drive shaft out of the hub for any reason I would suggest that you clean out the teeth on the CV joint as part of the job.

[S2central.net]

I have heard of that before... look at how some teeth sort of blur together with all that rust between them... makes for poor pulse shape from the inductive sensors and so the ABS can be triggered at slow speeds - when it finds the longest period of flat signal from one or more corners.

Good find though - and nice photographic proof for the record.

[S-Express]

I wire brushed mine and then whacked bilt hamber rust converter on them, should keep the rust at bay for a few years.........

[Zoig]

I did that on my car around a month ago. That did not cure this problem, and the ABS and EDL are still kicking in on slow speed braking and maneuvering.
Sometimes I get ABS warning light on startup of the car, so the problem might be somewhere else.

[Flat on my back]

.

If the ring is cracked you will get a very similar symptom.

[s2bug]

The ol reluctor ring issue.

When braking the ABS goes mental so you hear a whirring from the pump and then the ABS light kicks on just after the pedal goes abit damp

Cracked reluctor ring me thinks!

Hope that helps someone out there and will post pics and images as will be taking mine of shortly as well.

Good work