The ABS light on my ride has come on and its steady for a good couple weeks. I pulled the following Diagnostic Trouble Codes (DTC):

51 - Motor Lock
53 - Motor Stuck On

I then attempted to erase the codes. However when checking the DTC, code 53 comes up.

I've been reading some posts that the modulator usually needs replacing, however I would like to know how to troubleshoot the modulator and make for certain the pump motor is faulty.

I do not notice any leaks in and around the area.

If someone can lend their expertise with this issue, it will be greatly appreciated.

Also if the modulator is recommended to be replaced, can someone give some advice as the best way to remove it, other than what the service manual says. I am sure there are helpful hints to make the repair smooth and not as messy.

I would like to do the change myself.