I changed the sensor and restarted the pcm but my abs light is still on. Any suggestions? The brake light is not on.

 

I haven't tried this myself, but the Haynes manuel say that if you want to pull codes from your ABS Module (computer) just ground pin #13 on the harness via a jumper wire and count how many times it blinks. That in turn gives you the problem you need to fix.
It'd be a good idea to give more truck info...i.e. 4 wheel abs or rwal only...among other stuff. You a too vague.