ABS Break light on&off

Hi all:
My 2002 Voyager has this problem. The ABS break light light up and stay on.
When I restare the eng, the light stay on but after driver for a while the light went off.

This happens very offent. I chaged the fuse, the light stay off for about 3 months, but now it comes back.

Could some one help me with this????

Thanks

On my 01 it does this to, I went and tested on a dirt road and everything seemed fine, trac too. I have no codes either.

need to pull codes out of it may be just a speed sensor not uncommon to have go bad or tone ring could broken or loose on axle

so if I'm not getting any codes how do I pull a code? I have checked the rings and elec., someone told me it could be the dash, not sure. Thanks