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Dirty or "fouled" sensors at the wheel. At each wheel hub, there is a counter that "looks" at the spindle collar and "counts" the spaces and compares each wheel. If one is much slower when the brakes are applied, the system will interrupt the flow of fluid to the caliper causing the brakes to stop actuating so the wheel will not "skid" or "lock-up". Grime on the sensor or the collar can cause the system to think it is in need of repair, hence the light! Y-THINK-Y

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