This worked on my 02 1150 (non servo):
"Here's a slightly more extensive procedure I found.
I've done it like this and it worked. So I think 1 minute is overdoing it a bit
1) Turn ignition off.
2) Remove the seat.
3) Locate the diagnostics plug behind the battery.
(It's for diagnostics so is not connected to anything).
4) Connect an end of wire to the brown/blue wire pin .
5) Clip the other end firmly to ground.
6) Turn ignition on. Note that the two ABS lights continue flashing alternately.
7) Hold ABS button down for 8 seconds.
The bottom ABS light should stay on, the top one off.
Release the ABS button.
8) If the reset is successful, both ABS lights come on.
If you didn't count to 8 or your ground is not good, then the top ABS light stays off. Start again and/or try pressing the ABS button before turning ignition