The ABS computer will go into fault mode if it thinks one wheel is rotating at a different speed from then others and is unable to correct it by releasing the brakes.
Might be worth checking if the tyres all the same size and inflated to the correct pressure?
'08 Chrysler 300CRD (MB OM 642 engine)
'95 E220 estate
'89 230TE (R.I.P.)