What he posted was that it comes on after 10 minutes.

The ABS ecu has to be programmed to forgive temporary wheel speed differences or it would pop on every time you slip a wheel on poor tractive surfaces or use the spare tire. When the speed differences are too great it will, after a time illuminate the ABS light to indicate a problem and on the models with OBD it will store a retrievable code.

The sensors are checked for circuit integrity upon key being turned on and the rest of the initial test is performed the first time 4-7 MPH (higher speed for FWD models) is achieved. The models with OBD will perform roll-off test every time the car stops for more than 5 seconds.