I recently had to program a Mercedes C204/S204 ABS control module. I carried out this whole process using the excellent Autel MS908Pro and its online SCN programming functions. It was actually a very simple and logical procedure the hardest part was actually calibration of the inlet valves as you had to hold down the brake pedal at a specific pressure and then change to a different pressure without releasing the pedal completely.
Impact Tuning and Diagnostics
Unit 4-5 Parker Industrial Centre