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Check in the 2nd generation forum in the sticky section I believe their is a code chart or link to one. Also you can google the codes make sure you put 2002 Dodge Ram Code #.
Googled abs codes. 71 ecu rom read/write 72 ecu rom check sum I have to go back for 73 but you mite do search here. Could be the cab but most of the post I read from other web sites pointed to the rear wheel speed sensor which should be on top of the differential. Try cleaning it, if the doesn't work replace it. Also could be front wheel senors especially if brakes were worked on. If it is cab you will need new one and will need to have it programed. Check the senors first. If you clean or replace take it for test drive on one thread it stated you had to brake at least 5 times before cel will go off. If want to google just put in 2002 dodge ram abs code #. You can do that this site also. One thread if you were doing front brakes and pushed the pads to far back that fluid went up to master cylinder it would set code 73 I think. On 71 code cab it be reset using reader but a very good one. Probably at a shop. You need a very good reader to test. Check the senors first.