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It is possible to test these components by using a pressure gauge inline with the brake system. This will allow you to see what the pressure is. Testing of the ABS pump assembly typically only to see if it has any electrical faults. The pressure gauge can be used to see if the pressure coming out of the ABS unit is even on all four fluid circuits to the wheels. If there is a pressure differentiation then that would indicate a problem with the pump. Typically if the pedal is soft there is air in the system and it needs to be bled to get the air out. It can also be soft if the master cylinder has an internal leak and the fluid is bypassing the normal circuits which would cause pressure loss and create a soft pedal. If there is no air in the system, then the most likely cause would be the master cylinder.