95 4x4 5.7 K1500 ABS light on

I have a older truck with lots and LOTS of miles on it and we don't drive it much but of course this time year here in MO we need the 4x4. The otherday the ABS light came on. I checked all of the wires and such and everything looks fine. Is there anyway to get the code from it without a code reader?
Is there anything to look for that seems to happen alot with these trucks? It has 244k on it.
Rob

Not sure what year they went from RWAL to 4WAL but this should help: http://www.aa1car.com/library/abs_kelseyhayes_rwal.htm

//2000CAYukon