DIRTYMOFO

I can feel the abs pump pulsate the brake pedal when I use the brakes going under 20mph but when I am stopping from above 20mph the brakes are fine. I have just replaced the abs module about 3 weeks ago. And the front rotors seem to me fine...

Nkugs90

if not its possible that you could have a bad abs sensor or possibly the module may have been a defective one.

DIRTYMOFO

the lights turned right off, today I pulled the abs pump fuse and the modulating stopped?

Vier Glühende Ringe

all your sensors are pushed in all the way.

Audi_kraut

Check your sensors, make sure they are clean and properly inserted.

Check the ABS rings:
For the fronts make sure they are not damaged

For the rears make sure they are properly attached to the rotors and not "free floating"

warrantysucks

i've seen this issue on severl audis and volks wagens. Heres what you have going on. on each cv joint there is a wheel speed sensor ring. these rings are just pressed on to the joint. I have seen several cases where the ring will come loose and spin. When you apply the brakes the ring will spin and the abs will activate. the only way to fix this issue is to replace whichever cv joint has the loose ring. I've only seen it on front joints, but that doesnt mean it couldnt be the rear. check your joints.
dan