From my very, very basic understanding, the ABS system does 3 checks.
Check 1 - on first starting the car's engine. If the ABS light goes out once the engine has fired, then the ABS ECU is happy with everything, which does not involve the 4 wheel sensors. If the ABS light doesn't go out, then it is is unhappy with something, not involving the 4 wheel sensors.
Check 2 - when first on the move, the ABS does a quick check on the pump and 4 wheel sensors at around 6mph. We often hear this brief check taking place as the pump is behind the off-side wheel arch liner. If the lights stay out, then the system is happy with the readings from each of the 4 wheel sensors.
Check 3 - whilst on the move, if any wheel sensor suddenly stops reading the wheel speed (i.e. break in the wire) then the light comes on.
With my previous 944 - an S2 - it was a break in one of the front sensor wires which was the culprit and the car would always pass check 1 above, but would occasionally fail check 2 and always, after a couple of miles, check 3.
I too changed my pump (a well known independent told me, incorrectly as it turned out, that this was the fault!!) but the problem persisted. By chance, whilst on a past '944 Euro GT' in Germany, I put my hand behind the wheel and moved the ABS sensor wire. The problem disappeared for about 50 miles or so, before returning. Another waggle and it would go away again.
A quick phone call to Simon Butterworth at 'Porsche-apart' after I returned had 2 used front sensors on their way to me (I figured the other front sensor wire was probably weak, too) and problem solved!
Hope this helps
Perry
1991 951