The three parts of any ABS system, whether combined or separate, are very similar to the human body. The brain or the controller monitors external sensors for wheel lock.
The modulator acts as the muscles of the system, controlling the braking force on each wheel by venting pressure using solenoids. If the pressure eventually becomes too low under ABS conditions the heart of the system, the pump, starts to drain the vented fluid from expansion chambers in the modulator back in to the system to maintain correct pressure.
All the driver experiences is a slight vibration of the pedal, as this cycle happens many times a second.