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I did a brief search for ABS Warning Light in the forum and was not able to pare down results for the 2002 F150 that is 2wd.
A number of years ago the ABS warning light came on in my 2002 F150. I took it into Firestone and they said it could be one of two things and each of the two things would be $1200 to do and since the parts aren't made new paying them $2400 might not even fix the problem. I have driven the heck out of the truck since then, including at least one stop where the light was on and the ABS was needed, and other stops where the light was off and ABS was needed, and from what I can tell the ABS system functions just fine and the truck seems to stop just fine.
I was on Youtube tonight and there was a recommended video for resetting the Ford ABS light on an unrelated vehicle and it got me to thinking and sure enough- the sensor is $15, the tone ring is $90 for the 4WD, and there is a five minute video that goes over testing the sensor and replacing the sensor.
What I am running into is that I have a 2WD truck, and I haven't really found much in the way of information about this setup on the 2WD. I saw one thread about the tone ring being only available if you buy the entire hub assembly, I see a lot of conflicting information about these trucks.
SO I'm asking here; Have you ever dealt with an intermittent ABS warning light on one of these trucks, did you deal with it, was it really a simple job, or was it ridiculously involved? Is the sensor/ring set up on the 2WD the same as the 4WD or are they entirely different creatures?
Any insight you have would be really helpful. I'm really confident in how the truck runs and stops, but resolving that light would be nice especially if it costs under $100 and less than an afternoon to do. Firestone made it sound like it was basically not even possible to fix maybe they just didn't want to.
Just fixed the ABS system on 2003 F150 a couple weeks ago. It had two problems.
First: The wire to the rear axle speed sensor was ripped out of the sensor. The sensor is located on the top front side of the differential. Previous owner must have caught a stump or just went booting through a heavy straw field. (farm truck). Bought a Dorman speed sensor pigtail. Splice soldered that on. Bingo fixeto number 1.
Second: The ABS control module. Farm truck. Been rattling down rough washboard back roads for years. All that vibration caused two fo the ABS solenoid coils to fail. I took a run at fixing the module. It was a successful repair. Bingo fixeto number 2. Here is a link to the first of a 5 part video set that I captured along the way with the module repair. The module repair itself was simple, re-attach good functioning coils to the circuit board. Most of the time I was just casually figuring out how to fix the coils on a Sunday afternoon. For the impatient, watch part 1 then skip the rest and jump straight to part 5. Note, if your issue is the control module you can remove it without touching the hydraulic unit. The brake system stays connected and fully functional while the module is out. Just no ABS, old school foot pedal pressure control by the driver.
If your ABS problem is intermittent, it may very well be a similar problem with one or more coils failing.
There is lots of snow and ice out on the roads now. Happy to report the repaired ABS system functions perfectly.