Reading the ABS Error Codes
Here is some info from the ford service manual for 95 explorers. As you can see you need a special tester to get the error code
Anti-Lock Electronic Control Module
The Explorer anti-lock brake control module (2B373) is mounted on the outboard side of the LH inner fender behind the plastic fender liner.
The Ranger anti-lock brake control module is mounted in front and to the right of the battery on the radiator support sheet metal. It is held in place by a screw and a tab.
ABS Warning Lamp Indicators
The anti-lock brake system uses one amber ABS warning light to alert the driver of malfunctions in the system.
The amber ABS warning light will come on for numerous reasons. It warns the driver that the ABS has been disabled. Normal power-assisted braking remains but the wheels can lock during a panic stop while the indicator is on. Certain procedures must be followed to find the concern in this situation. They are explained in this section.
If system is OK, Code System Pass will be present.
On-Board Diagnostics
The anti-lock brake control module (2B373) is capable of performing on-board diagnostics using Rotunda NGS Tester 007-00500 or equivalent.
The anti-lock brake control module monitors system operation and can store all defined service codes in its memory. It is important to understand that there are some concerns the anti-lock brake control module cannot recognize. Therefore, if a symptom exists and no diagnostic trouble codes are stored by the anti-lock brake control module, other diagnostic steps must be followed.
The module cannot store a diagnostic trouble code if there is no power to the module. This concern can be found by following the System Precheck procedures.
Diagnostic Trouble Codes, Retrieving
The diagnostic trouble codes can be retrieved from the anti-lock brake control module in the following manner.
1. Connect the New Generation Star (NGS) Tester or equivalent to the ISO-9141 connector located under the steering column.
2. Turn on the tester and follow the menus provided to perform ABS code retrieval.
3. Record all the codes. "System Pass" indicates that no codes are stored.