Someone was asking about a DIY. I did one for the W140. Not EXACTLY the same,,,, but you'll get the idea.
http://www.benzworld.org/forums/w140...ht=brake+fluid
I would strongly suggest POWER BLEEDING (as per WIS), instead of VACUUM. There is a greater change of causing bubbles in the system by "sucking" rather than "pushing" the new fluid through the lines.
Also, I know many who advocate (including me) changing the fluid EVERY spring, especially if you live in a humid environment. It is such an easy, quick, job.... and since the cost of ABS parts are astronomically expensive, why take the chance? But, this is just my .02.