Mike, I stand corrected. After refreshing my memory from the manual, bleeding ABS is similar to non-ABS. Using a power bleeder such as an Eezibleed (get one from IPD) makes life much easier and more effective. Forget using a Mityvac. The bleeding procedure is to bleed one rear wheel, then the second and then the fronts in that order. The manual cautions that ABS takes longer to bleed, presumably because of the fluid reservoir. Clean fluid is so important to ABS operation that I would not just bleed: I would replace all the fluid in which case you would clean out the system.

If you want to replace the pads, first clamp the caliper hoses with rounded hose clamp pliers (the plastic ones that don't damage the rubber), then open the bleed screws. Squeeze the piston in, close the bleed screws, replace the pads, and reassemble. Remove the pliers, pump the brake pedal (gently until you get pressure) and then pressure flush the whole system using your Eezibleed. That way you have clean fluid throughout.