If you didn't open up or remove the ABS valve body I don't think you would or could get any air in it to bleed out...BUT if you did the only real way to bleed it is by using a SST/scanner to open the ABS valves to bleed out any air while doing a normal brake bleeding....BUT it has been said by others here that if you brake real hard so as to activate the ABS system several times the air can/will move out of the valve body and into the brake lines so normal bleeding can remove the air.
I replaced my entire master cylinder ABS assembly with a new OEM assembly and all I did was just bleed the master cylinder brake lines at the master cylinder and my brakes are great, didn't have to bleed the calipers or do anything with the ABS valve body.