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Get two pieces of thin wire a couple feet long. Strip the ends so you have bear wire. Insert the end of one wire in the Tc terminal of the diag port. Insert the end of the other wire in the AB terminal of the diag port. Turn ignition to On or ACC (don't start).

Get the other ends of the wire, one in each hand. You are going to alternate touching the ends of the wire to a ground (any bear metal body spot). I use one of the shock studs sticking up on the passenger side. Each touch needs to be held for 1 second and when you switch do so immediately with no more than .2 seconds in between switching. Sequence goes like this:

Tc- 1 sec
AB- 1 sec
Tc- 1 sec
AB- 1 sec
Tc- hold the Tc to ground for a few seconds.

ABS light should blink really fast now showing that the codes cleared.
 

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Don't need to mess with the battery. Some people might run the wires over to the negative terminal to get the needed ground but it's not necessary. The negative terminal of the battery attaches to the body of the car, so any body part that is bear metal is good also. The body of the car is really like one big wire with the neg battery terminal connected to it. I remember just using the shock tower studs. If that doesn't work then maybe the engine hook on that side.
 
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