Vehicles equipped with Anti-Lock Braking Systems (ABS) have which color malfunction lamps to state when the ABS is not working?

Vehicles with ABS have yellow malfunction lamps to tell you if something isn’t working.
On newer vehicles, the malfunction lamp comes on at start-up for a bulb check, and then goes out quickly. On older systems, the lamp could stay on until you are driving over five mph. [Commercial Driver Manual]