ABS warning lights

[Jimbo7]

I have an s type 2007 3.0 petrol and my dash is showing abs fault, brake fault, dsc fault and no cruise control and the car was just operating in limp mode and gear changes cluncky. OB2 codes were abs related so I cleaned the toner rings and replaced the sensors on the rear. I also have a new battery which is reading 12.65v. The car is now driving well but I can't clear the codes. My OB2 reader is a cheap one, could this be the issue. Thoughts on next steps?

[sosmotorcyclerecovery]

Hi I have the same problem (06 2.7D)  I m about tocean thr reluctant TOR rings and change out my sensors too  I so have a  Icarsoft 930 to try and  clear the codes as my firms £5000 diagnostic  tool can t even access the abs .. I'llet you k ow what happens if your still interested