Each time the ABS warning light comes the systems control module is warning u that the ABS has developed a fault and is being disabled, this means when the light is lit u have standard no ABS brakes, the system computer module does set a code anytime the light remains on, a Ford dealer can read this code and tell where to look for a faulty part, which in most cases is one of the 4 wheel speed sensors.
In my windstar i had the same poblem, it was a broken wire by the front wheel, for the wheel speed sensor, mine was on the pas side, but either one could do it, just remove the tire and inspect the wires to the wheelbearing
I hope this helps you, please help me by leaving feedback, thank you
SOURCE: ABS and brake on 2001 Ford Windstar come on randomly
Do you mean the van is actually braking like a Starsky and Hutch move or that the warning lights indicate that they are on? If its lights then you may be low on brake fluid. Maybe a module leak
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