halo whiteknight88 member,i can help u because i have saw this problem b4.The ABS warning light ON actually is the DSC control unit faulty and all the E9X with 6 cylinder engine got same problem.if u bring back to AB ,they will recommanded u to replacing new DSC control unit cost 10k++...... i know 1 worshop in USJ,KL can solve this DSC problem.the workshop also specialist in BMW car.If u interest can call this Hp no for more detail.... Tel:016-2030665. TQ