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The ABS and wipers are on completely separate circuits.
Check fuse 54 in the dash fuse box. It sends power on the Dark Green wire to pin #5 of the wiper motor. If you have 12 volts there on fuse 54, then disconnect the wiper motor connector and check the voltage with the wiper motor unplugged. If you still only get 4 to volts on pin 5, then remove fuse 54, disconnect the battery and check the continuity between pin 5 and use 54 using and OHM meter. If the voltage on fuse 54 is 12 volts and pin 5 is 4 to 5 volts, you have either a bad dash fuse box of high resistance in the wiring between the dash fuse box and the wiper motor connector.