Abs and brake light on changed all 4 wheel sensors,cleaned all connections,took plug off abs module and cleaned.

If you take it an have it checked for DTC'S - diagnostic trouble codes stored in the ABS module I'm sure you will find out what the problem is ! Besides the brake pads have nothing to do with it ! Wheel speed sensors , yes , brake pads no ! Wiring problem , control module , maybe even a ABS relay !

ABS- anti lock braking system. When the light comes , the ABS is disabled. You still have brakes though. It is caused by one tire trying to stop faster than the others. Snow,sand, and gravel can cause this. It could also be a wheel bearing getting worn out, eventually you will start hearing noise from it(starts as a low pitched hum, especially when turning). Could be the sensor on the bearing also.

ABS sensors are part of your brake system. There is one in the brake pads on each wheel. If the ABS light is on, it usually means that your car has sensed a dangerous situation and has deployed the ABS system to help you stop safely. If only the ABS light is on, then one may be gunked up, or you need to have your brakes checked. If you've had any other work done around the wheels, apparently, they can be bumped quite easily. This repair is not very expensive, if you have a good local mechanic. or brake shop.
On the other hand, if the ABS AND brake lights are on, and you hear a constant beeping, there's is a good chance that your ABS control module has gone out. Unfortunately, this is an extremely common problem with Audis of this era. Many VWs use the same part, and they were recalled (but Audis weren't). There is a grey market where you can picked them up a somewhat cheaper, but the original ABS control module went for around $1700.
I hope it's a bad sensor!

By "were done" I am guessing someone else did the job for you. It is a common error at garages to forget to reconnect the sensors so that is my first thought but then you say you changed the front sensors, was that after the brake job and do you have 4 wheel ABS? The plugs for the sensors should always be cleaned if not replaced after a brake job in my opinion (high dirt area). More info will get you a better answer if you post back I may be able to help more/better.

Having the vehicle checked for DTC'S - diagnostic trouble code's would be a good first step . ABS light on codes are stored . Suggest you take your vehicle to a qualified repair shop that has the knowledge an testing equipment to diagnose the problem properly .
Anti-Lock Brake System (ABS)
The 4-wheel, 4-channel anti-lock brake system (ABS) consists of the following components:

• ABS module
• Front wheel speed sensor
• Front wheel speed sensor ring (integral to the front wheel bearing)
• Hydraulic control unit (HCU)
• Rear wheel speed sensor
• Rear wheel speed sensor ring (integral to the rear halfshaft)
• Yellow ABS warning indicator
• As you can see here , it can set numerous
• DTC'S Why guess an replace parts that won't fix the problem .
• Anti-Lock Brake System (ABS) Module Diagnostic Trouble Code (DTC) Index DTC Description Source Action B1342 ECU is Faulted ABS Module NOTE: If other DTCs are present, REPAIR them before installing a new component.
  CLEAR the DTCs. RETRIEVE the DTCs. If DTC B1342 is retrieved, INSTALL a new module. REFER to Anti-Lock Brake System (ABS) Module in this section. REPEAT the self-test. B1483 Brake Pedal Input Circuit Failure ABS Module Go To Pinpoint Test B . B1676 Battery Pack Voltage Out of Range ABS Module Go To Pinpoint Test C . B2477 Module Configuration Failure ABS Module CONFIGURE the ABS module. REFER to Section 418-01 . CLEAR the DTCs. REPEAT the self-test. If DTC B2477 is retrieved again, INSTALL a new ABS module. REFER to Anti-Lock Brake System (ABS) Module . REPEAT the self-test. B2734 Pedal Travel Sensor Supply Error ABS Module Go To Pinpoint Test M . B2736 Pedal Travel Sensor Circuit Fault ABS Module Go To Pinpoint Test M . B2737 Pedal Travel Sensor Jammed Error ABS Module Go To Pinpoint Test M . B2738 Pedal Travel Sensor Velocity Error ABS Module Go To Pinpoint Test M . B2740 Pedal Travel Sensor Spike Error ABS Module Go To Pinpoint Test M . B2741 Sensor Cluster Defective ABS Module FOLLOW the diagnostic tool directions for the calibration procedure. B2900 VIN Mismatch ABS Module VERIFY that the module has the correct as-built data.
  CHECK for correct powertrain control module (PCM) and ABS module configurations using the diagnostic tool. RECONFIGURE the component as necessary. FOLLOW the diagnostic tool directions for the ABS module configuration or REFER to Section 418-01 for the PCM. CLEAR the DTC. REPEAT the self-test. C1095 ABS Hydraulic Pump Motor Circuit Failure ABS Module Go To Pinpoint Test D . C1145 Speed Wheel Sensor RF Input Circuit Failure ABS Module Go To Pinpoint Test E . C1155 Speed Wheel Sensor LF Input Circuit Failure ABS Module Go To Pinpoint Test E . C1165 Speed Wheel Sensor RR Input Circuit Failure ABS Module Go To Pinpoint Test E . C1175 Speed Wheel Sensor LR Input Circuit Failure ABS Module Go To Pinpoint Test E . C1233 Speed Wheel LF Input Signal Missing ABS Module Go To Pinpoint Test F . C1234 Speed Wheel RF Input Signal Missing ABS Module Go To Pinpoint Test F . C1235 Speed Wheel RR Input Signal Missing ABS Module Go To Pinpoint Test F . C1236 Speed Wheel LR Input Signal Missing ABS Module Go To Pinpoint Test F . C1277 Steering Wheel Angle 1 and 2 Circuit Failure ABS Module Go To Pinpoint Test G . C1278 Steering Wheel Angle 1 and 2 Signal Faulted ABS Module Go To Pinpoint Test G . C1279 Yaw Rate Sensor Circuit Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1280 Yaw Rate Sensor Signal Fault (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1281 Lateral Accelerometer Circuit Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1282 Lateral Accelerometer Signal Fault (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1285 Booster Solenoid Circuit Failure ABS Module Go To Pinpoint Test I . C1287 Booster Pedal Force Switch Circuit Failure ABS Module Go To Pinpoint Test J . C1288 Pressure Sensor Main/Primary Input Circuit Failure ABS Module Go To Pinpoint Test K . C1440 (with stability assist) Pressure Sensor Main/Primary Signal Faulted ABS Module Go To Pinpoint Test K . C1516 Roll Rate Sensor Signal Fault (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1517 Roll Rate Sensor Circuit Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C1730 Reference Voltage Out of Range (+5V) ABS Module Go To Pinpoint Test L . C1805 Mismatched PCM and/or ABS-TC Module ABS Module CHECK for correct PCM and ABS module configuration using the diagnostic tool. RECONFIGURE the component as necessary. FOLLOW the diagnostic tool directions for the ABS module configuration or REFER to Section 303-01 for the PCM. CLEAR the DTC. REPEAT the self-test. C1963 Stability Control Inhibit Warning ABS Module This DTC is for information only. GO to the Principles of Operation. CLEAR the DTC. REPEAT the self-test. C1991 Module Calibration Failure ABS Module Follow the diagnostic tool directions for the calibration procedure. C1996 Active Yaw and/or Roll Control Disabled ABS Module This DTC can be set if the ABS module system is activated for 15 seconds of continuous operation. CHECK for any major chassis modifications, gross suspension misalignment or other items that can alter the vehicle tracking dynamics. CLEAR the DTC. REPEAT the self-test. C1998 Module Calibration Not Complete ABS Module Go To Pinpoint Test O . C2769 (ABS only) Longitudinal Acceleration Sensor Electrical Failure ABS Module INSTALL a new ABS module. REFER to Anti-Lock Brake System (ABS) Module in this section. CLEAR the DTCs. REPEAT the self-test. C2769 (ABS with stability assist) Longitudinal Acceleration Sensor Electrical Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C2770 (ABS only) Longitudinal Acceleration Sensor Plausibility Failure ABS Module INSTALL a new ABS module. REFER to Anti-Lock Brake System (ABS) Module in this section. CLEAR the DTCs. REPEAT the self-test. C2770 (ABS with stability assist) Longitudinal Acceleration Sensor Plausibility Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C2777 Sensor Cluster Bus Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . C2778 Sensor Cluster Power Supply Failure (Sensor Cluster Fault) ABS Module Go To Pinpoint Test H . U1900 CAN Communication Bus Fault-Receive Error Network Fault REFER to Section 418-00 . U1901 CAN Network #2 Communication Bus Fault-Receive Error Network Fault Go To Pinpoint Test H . U2023 Fault Received from External Node Instrument Cluster REFER to Section 418-00 .

The ABS system measures wheel speed on each wheel. If one wheel is "seen" by the body computer as turning faster than the other 3 the ABS will apply brake pressure to that wheel to prevent a skid or spin.
Vehicle Stability Control uses the same equipment.
Interesting that your ABS was working before the repairs.

The front two wheels is where the ABS sensors are located. Inside the hub assy. If you replaced the hubs you should have seen and un-hooked the wires to the ABS senors. I think this is why you have a light on, maybe a wire got cut in the process of repairing your hubs and bearings. Or the maybe a plug has come un-plugged. Check the wiring to the hubs for these problems.

Hello,
There is a ground wire connected to the engine block. Look for it on the back passenger side of the engine towards the top. Remove it and clean the connection and the wire connector and replace. Sometimes they get real bad and throw the ABS light on. Sometimes a brake light out can throw the ABS light on.

• You said you rebuilt the ABS module, do you have a short in it you are missing? The bulletin for this originally suggested to replace the module and was corrected because the ground itself was the major offender.
• Try to reground the EBCM. The code 0265 says "loss of communication with the brake module" The EBCM Ground is located on the frame beneath the driver's side door. If multiple grounds are found in this location, the EBCM ground can be identified as the heavy (12-gauge) wire. Clean the area, front and back, using a Whiz Wheel.

• Install the ground, then the washer and then the bolt to the frame. Important: It is important to use the bolts, washers and nuts specified in this bulletin. These parts have been identified due to their conductive finish.
• Install a washer and nut to the back side of the frame.
• Tighten the nut to 9 N·m (79 lb in).

• Cover the front and back side of the repair area using Rubberized Undercoating. An additional check can be made to ensure a good connection for the Battery Cable to Frame ground.

Regards, Tony

Speedo and traction control; check wheel sensors all 4, clean and blow the sensors and reactor rings.
Is ABS light on as well? if so, you need a EBTCM module mounted to the brake ABS pump facing the battery. There are places in the US that rebuild them with warranty for under $150.

there are 2 options, ABS module is most likely, I just had my ABS module remanufactured and it worked greate when i re-installed.

the second option is the wheel sensor could have a bad connection(may have been bumped when your bearing got looked at.

there are a few companies that repair ABS modules, i used modulemasters, they did a good job, i can not vouch for any of the other companies.