Loud ABS

[Steernit]

'01 SR5

I think the loud grinding noise is the ABS; but is it supposed to come on when the vehicle is started and every single time I brake? It's discomforting - I've never driven a vehicle that makes that grinding sound constantly. Also, the brake pads are rubbing on the inside and outside of the rotors, leaving a center ring that's not shiny - is this related?

 

[hellbound]

sounds like you need new pads. Since you have a ginding and other issues, do new rotors at the same time. I just did this on my 98 because one was warped. The rotors were about 50 for two and pads were 40 a set. make sure you have a torques wrench that can do 90+ ft lbs for the brake assembly

 

[Steernit]

The grinding noise comes from the Abs unit, I'm assuming, because it's near the brake master. I've never driven a vehicle before that was so loud in-cab. The brakes themselves run fine with no noise but when inspected, I noticed the ring.
Looks like I'll inspect the pads/rotors next, then.
I've dealt with warped toy rotors before but wouldn't this be an unusual direction in which to warp? Is anybody else's ABS loud in-cab and makes the grinding/pump sound that often?