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ABS and Brake light stays on.

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Replacing vacuum pump seal and complete steering system

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Have a 1998 dodge ram 5.9 diesel 3500 quad cab. Use to be intermitted now on all the time. Not rear sensor pretty simple braking system on this truck. Disk in the front. Regular brake pads in rear.
 
I would expect your truck to have rear wheel ABS. It's actually worse than nothing. If there's a sensor and wire on top of the rear pumpkin then you have ABS. If the sensor has failed or isn't seated properly or the connector is dirty the the ABS and brake lights will be on.
 
There is a troubleshooting procedure in the factory service manual, but it doesn't cover everything. My lights were the fault of water in a connector located behind the left front tire. It took the wire diagrams in the FSM, a multimeter and quite a bit of patience to locate the dead short. All 2nd gens came with rear ABS. Only the 4 wheel ABS was an option. You have a rear sensor, it is what drives your speedometer. If the speedo works it probably is something else.
 
Just went through this with my 97. I did exactly what Iron Duke II did, replaced the brake light switch. Problem solved.

I always try the easy stuff first. For the price of a brake pedal switch it was worth a try for me.
 
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