ABS light on - When it goes off the brakes grind until It comes back on.

What is your question?

ABS light started coming on a couple weeks ago intermittently but brakes where fine. Light was on yesterday and all was fine until I made a sharp turn and the light went off. After the light went off the brakes had terrible pulsating grind feel/noise. Dry conditions slow stops. When the light comes back on they are fine. I am thinking that something has gone up with the ABS and when the light is on and not trying to use ABS its okay and when the car tries to use ABS its a problem. Is this right? If so would this be ABS pump/module or what?