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this made be a wild shot but check your break fluid, my 95 did that and i got worried but it was low on break fluid so it tripped these lights to go off, just check that and mark it off the list i guess
Steven, I have a 99 F150, my ABS light also came on driving home one day. Last Oct I had my rear end completely rebuilt. On the top of the rear differential is an ABS speed sensor. I looked at it last Sunday and my wiring looked like some jug head just ripped it loose instead of unplugging it. The wire comes from the drivers side and plugs into an "L" shaped sensor that is bolted to the top of the diff. After you rule out low fluid levels, check to make sure that the plug is clean and connected right. Ford wants $110. just to take a look how nice, I found the sensor on line for $12. Napa has one for $15.50. Another owner said the sensor is held on by one 7/16th bolt. I plan to clean mine and see if that helps, if not then I'll put in a new sensor. Do you have 4X4 or 2 wheel drive? My truck is 2WD and the main control unit is under the dash. Also the number 18 fuse under the hood is tied to the ABS system. One last thing I've read that can cause the ABS/Brake light to go on is a burned out brake or tail light. If your rear lights are ok then check to make sure that sensor is clean and connected correctly.
I ran into a similar problem, at least both lights on, when I was doing wiring involving the reverse sensor switch (for the rearview mirror). Checking fuses I found fuse F14 had been blown. Other common culprits, F02 and F10 were OK. In case someone is wondering, this is the fuse panel below the glove compartment.
On my 99 F150 I ended up replacing the ABS sensor on top of the differential. $19. at Napa, took about 5 minutes to change it, one 3/8th bolt. I had already ruled out a bad tail/brake light, low fluids, and a blown fuse. Those are the first things you should check and the cheapest fixes. I have a 2WD but I've heard the 4X4s have a sensor up front that is a pain to deal with. My ABS light went out and now I'm dealing with normal tune up stuff. Good luck.