I have just tried to help a work friend with her partners Z3 as the ABS light is on all the time.

Using INPA I checked that I could communicate with the engine. Trial and error gave me the MS 42.0 for M52 new as the one to use. Reported
Plausibilitaet Signal Brake light switch / brake light test switch
Freq 1 Counter 40
Activate Ignition Cyclinder
Freq 10 Counter 40

However under the chassis when I looked for the ABS, none of the ones in the list worked just kept getting a busy in the lower left corner then not able to communicate window on screen. This is a list of all the ones I tried.
ABS/ASC Mk4
ABS/ASC Mk4G
ABS Mk20 (DS2)
ABS/ASC Mk4G1 (K1)
ABS Mk20 / ASC E46
ABS5 ASC5 DSC5 DSC3
DSC MK60
Steering Angle Sensor
Could anyone tell me which one it should be for the age of the car.

Or even if a possible cause for the fault. He is trying to sell the car but needs to get the ABS light off.

Many thanks