Soft brake pedal and code U2023

So, I have a soft pedal, and go all the way to the floor. We bled the brakes many times and got partial brakes, if you consistently slam the brakes you can stop. We did find a leak which was the caliper, but we replaced that and now the leak is gone although we still have a soft pedal. I did use a scan tool and pulled code U2023 Fault received from external node in the ABS system. Could this code be the cause of the soft pedal?