As I said, I've locked the rear ABS twice at highway speeds. The first time, I laid a lovely 50' strip of tire before I got off the pedal because the backend was starting to come around. The second time was much shorter because I kind of expected it. I took it in to a local Yamaha dealer and they noted that it was working if you were not stomping hard on the pedal. Well, that's when I most need ABS! They say the system changed with GenII such that it is unlikely to ever get over-pressured like a GenI.
Don't just press on the pedal, stomp it HARD. If you have a GenI, you can lock the rear up that way. I won't test locking up the front, but since they share the same control unit, I'm not confident that it works better. I hope I cannot exert the same pressure with my hand that I can with my leg, but there are levers and other force changers in the system so I'm not 100% confident about the front never locking.
I'd be happy to demonstrate on the GenI ABS of your choice after my collarbone finishes healing....