This was posted on the vagcom group recently
"If you throw a "01486 ABS test activated" the cycle did not complete correctly, and the ABS test is still in progress. Roll the car 15-20 feet then brake hard. Then, hold the steering wheel 10 degrees from center while moving in a circle for at least 4 seconds. Do each direction seperately (right circle, left circle). Do not exceed ~39mph.
If this does not work, you may have to physically realign the steering angle sensor back to within +/- 7.5 degrees of zero via the tie rods, then rerun the calibration procedure above."