I had a 97 D1 and this was the only issue I really had with the vehicle. There's a few other things you can check if it is continually coming on:
wiring to the sensor (at the sensor) - it can break/wear/kink
dust and pitting of the sensor - bauxite dust played havoc with them
ABS warning relay may be faulty - under passenger kick panel from memory.
Fortunately there was still a service agent (LRA did have these up until 2003) in town and they would get Testbook sent in every few months. As you would be aware once the Wabco system has a fault, it won't self clear.
Anyway that doesn't help with the clearing. Blackbox Solutions (Faultmate/Rovacom) will do it but cost $'s for something like that. The D1 is a Waebco C ABS unit. Other than that I don't know of any options. There's no wiring solution I'm aware of as you need to clear the faults from the ECU's memory.
MY15 Discovery 4 SE SDV6
Past: 97 D1 Tdi, 03 D2a Td5, 08 Kimberley Kamper, 08 Defender 110 TDCi, 99 Defender 110 300Tdi[/SIZE]
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