Check The Ground Circuit

Disconnect the connector from the ESC control module.
Check for continuity between terminals 1,4 of the ESC control module harness side connector and ground point.
Is there continuity?

YES
- Check the wheel speed sensor circuit.
NO
- Repair an open in the wire and ground point.
  
  Fig 1: Checking Continuity Between Terminals 1,4 Of ESC Control Module Harness Connector And Ground
  Courtesy of HYUNDAI MOTOR CO.