Shrinkage of ABS is 0.4-0.7%. So your 100mm in CAD should be between 99.3mm and 99.6mm in your printed object.

It has nothing to do with the printer, it is a characteristic of the material.

Exact figures are nearly impossible to predict. The usual way to go is try and error. Print the part once, measure the important dimensions and adjust the model, print again etc.