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ABS troubleshooting.

Is there a way to troubleshoot the ABS (i.e. get fault codes) control
unit? My ABS light comes on and goes off spontaneously and I'd like
to track it down for good. It seems to me that since it works sometimes, the
sensors are probably fine. I seem to remember some VAG tool that would
do what I want, but I'm looking for another way (w/o spending the big
bucks). Thanks.