Lude Generation

Right, finally I have decided to sort out my ABS (well, at least to try). ABS wasn't working since I bought the car (2 years ago), but I was never really bothered about it, so the ABS bulb was out of dashboard. Today I put it back on, and as far as I understand it came up with 51 and 53 codes.
Here is the video (just to double check if I read correct codes):


51 - Motor Lock
53 - Motor Stuck ON

How bad is it? How much would it cost to fix it?

Sounds to me chap like its a modulator failure. Could try and bleed the ABS system but usually require special tool and 4W ALB checker. Someone else will poss have another solution.