Thought I 'd post up the minor issues (so far) I have had with the ABS system since every search for anything to do with ABS only brings up massive amounts of posts about disabling the ABS and not any actual useful information about any actual problems with the ABS. I have 20000 on the bike and this is has happened a couple of times. What will happen is that the ABS light will come on will riding. A few minutes later the TCS will start kicking in and flashing and cutting power in and out, which is annoying when cruising at 90 on the interstate. After a bit of this the TCS will fail and the light will come on all the time and the TCS indicator in the dash will switch to off. After a while of this, the check engine light will come on, sometimes switching off and coming back on again a few times. The fix so far has been shutting it off and then wiggling the front wheel ABS sensor wire along its length, just turning it off without messing with the wire doesn't work, and then starting up and riding away and everything is good.