97 Escort ABS

I have a 97 Escort that I've had for a few months now, it has 90000 miles on it. The ABS light is on. Brake fluid level is good, no fluid leaks anywhere. ABS fuse is good and there is a solid 12V at the fuse, also replaced the ABS relay. No trouble codes are stored in the computer. Brakes work fine, just there is no ABS. I have a Haynes manual, but it really doesn't give any information for 97 and newer ABS systems. Any help or pointers to get this ABS going would be appreciated.

Thanks,
Raymond