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The system is not holding pressure, which causes the pump to run excessively. If the pump runs too long, it will overheat so the computer shuts it off and turns on the yellow ABS light. You can try a fluid flush and solenoid exercise using the DanO method, actuating each solenoid individually. It might restore a good seal and ABS will be up and running. If not, you probably need to clean and rebuild the solenoids as shown in another thread here on Prime. Or, you can upgrade to the 2001+ system using SOS's kit. I went to Radio Shack, spent $20 on wires, switches and alligator clips and built the kit DanO recommends. My pump was acting up and the flush procedure cured it. ABS works great now and I will do the flush every year.