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On the left hand ride of your gauges a yellow shaped engine will show up on your panel, the you you can cycle the ignition switch on then off (not engauging the starter)) 3 times ending the 3rd time with the key in the on or run position. A number will appear where the odometer is if there is a code that has been tripped.
You can clear it with an OBD-II Scan Tool available at Autozone for around $175. You might want to verify what tripped it before unplugging 3 connectors or using scantool to clear code. Their is a list on this site of the codes. They also come with the owners manual of the OBD-II. I purchased mine for a 1998 ford explorer
they work with most all 1997 and later vehicles regardless of make. My truck throws 0236 and 0336 if I get down hard on the Bully dog high setting. I can clear them from the convenience of my cab. I would take alot of ribbing with my hood popped on the side of the road unplugging connectors. i. e(That new dodge broke down already). LOL
Or unplug the three PCM connectors for about a minute. 100% cheaper. To clear ECM codes, disconect the bateries and turn the key on for 10 minutes or so.