I have a fully automated test tool for this ABS system.
This is a gadget I designed 5 years ago for a well known
automotive tools company who sold lots of them to the trade.

It tests EVERYTHING except the abs ECU itself.
It allows testing of the wheel sensors, valves and pump.
Also, you can jack a wheel off the ground, get someone else to
rotate it by hand then press then brake pedal, the wheel will stop,
then you can push a button and the wheel will release, testing the valve
block and abs pump pressures by true operation.

This is all done by removing the ABS ecu, replacing it with the
test one and the unit has a display and keyboard so you can
perform one of 50 tests to check the system quickly.

If you get stuck, I can let you borrow it for a few days.
May even sell it now as I have an Escort Cos and it doesnt do that system.