Daewoo Leganza ABS Warning Light ON

I have a 2000 Daewoo Leganza. The problem I am having is when you back up and then put the car in drive it feels like a brake may be sticking. When you put the brakes on there is a grinding noise. After a couple of minutes then the abs warning light comes on and the brakes work fine. I have replaced the brakes and rotors. Have tried cleaning around the abs sensors but still having the problem. Any suggestions????

Change ABS sensor and if that does't work change the ABS box! But first try a computer analysis!