For my 2 cents worth.....
The ABS light will not come on when the ABS is actively working. It purely is a light to show any errors that the ABS computer has detected, and when you first turn the key on to check the bulb operation.
If your car feels like the ABS is turning on during normal or light braking, but the road conditions arn't bad, and there is not reason for wheel skid, then my suggestion would be to check and see if all the wheel sensors are mounted securely. Also, since you have each wheel off looking at the sensors, now is a good time to make sure there isn't anything stuck inbetween the teeth in the ABS sensor ring(looks like a gear, mounted on the Driveshaft), AND that the ring is NOT cracked.
This is a problem on Ford Windstars which causes the ABS computer to think that one wheel is starting to lock, in turn causeing the ABS activate.
Hope any of this helps! and good luck!
PS - If its any consulation, my ABS is messed up too, if i jam on the brakes on gravel or loose dirt, my wheels will lock up, but if i am driving on wet pavement, or even dry pavement, and hit the brakes, the ABS works for a few seconds and then just locks all the wheels up. Occasionally i will get a ABS light, but never really looked into it. If anyone has experienced this before, or has any ideas...let me know