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Don't know what the code is but I can guess what the problem might be.
If your ABS light is coming on and staying on (under normal driving) the sensor on the top of the rear differential is a prime suspect.
They are about $18 at the Ford dealership and take about 5 mins to replace.
You can check your sensor by unpluggin the connector that goes to it and checking the resistance of the sensor. Should be between 800-2,000 ohms.
Dude, BrianA, you're stinkin' smart man. I read some of these posts and I'm like, ok this one's gonna take a while... then here comes Brian with a quick and simple fix to the problem! Very nice...I think I'll give you a raise. I'll pay you double...no make that triple what I pay you know.
One word of advice.. Dont do it when your trucks been running for a few hours in 96 degree heat.. Kinda makes certain parts under there rather HOT! I got a nice lil burn from the exhaust and the side of the diff.. OUCH!