Nick
I have to confess, diagnostics and fixing things isn't my forte. However, as previously stated on this forum, in simplistic terms the ABS system on the 944s is pretty basic with four components:
ABS pump
ECU or brain
Four wheel sensors
Wiring and loom (inc warning light)
If at tickover and whilst stationery, the light stays off I would conclude that the pump and 'brain' are working ok. If the light comes on at speed, it would indicate to me it's a sensor or wiring that nots feeding a signal into the system.
If you have the facility to work on the car at home, putting it on four axle stands then running the rear wheels up gently in 1st or 2nd gear should activate the system - after all it's looking for a differential between front wheel and rear wheel speed. Doing this procedure you should get a noticeable vibration through the brake pedal as the front wheel are effectively locked.
My suggestion as a first step, would be double check all the wiring to and from the sensors. In particular the rear wiring system - there's a series of black barrel shaped clips that hold the wiring onto the body (and at the front the front strut). At the rear the white block or join has a small earth wire coming out of it - this gets very rusty and can snap where it connects to the body. Similarly at the front, it earths to the front strut.
After checking and confirming this is all in working order, try cleaning up the sensors which are embedded in the hub.
Next step, remove the ABS brain hidden underneath the dash board, drivers side - held onto the body with 2 x 10mm bolts and connects to the pump with a big multipin connector. Once you've taken this off, you should get it testes by a Bosch service centre. It's not uncommon for them to get fried if the pump fails.
If having checked all of the above are working correctly = replacement pump required. Removing and fitting a 'new' is a right PITA, but doable on the drive or garage at home ( I know.... as I've done it myself....)
I have a spare pump and ECU from an S2 if you need, failing that, give me a text or ring for phone help :
07540 193874
Chris