I've done it a few times without trouble. It goes something like: connect wires for diagnostic modes, turn on ign, then remove jumper earth wire while it's still connected to grey wire and touch to earth for 1-2 seconds 3 or 4 times a second or 2 apart (all within 12.5 seconds) then reconnect to earth, turn off ign, pause, then turn on ign to re-enter diagnostic mode; ABS light should come on, go off, then come on again with no flashing if cleared. I use a jumper wire that is easily & quickly dis/connected to earth rather than the earth wire/plug with the grey wire.