On the 01, you should be able to do the "key dance" to retrieve codes. (they will show up on the odometer...)

Just cycle the ignition on/off three times, (leaving it on the third time) and it should display the codes for you.

Ooops...... does it say grounding pin 13 will get the ABS Codes???? If so, just stick a wire into pin 13, and ground it to something metal. Hold it there, and see what happens.

 

I think pin 13 is missing on 1997 and newer, as that trick only works on OBD I.
The key trick only reads P-codes.
ABS is a C-code, and can't be read on 2nd gens without a DRBII Scan tool.
A good repair shop or dealer is the only way to read the codes, the chain stores won't read ABS for legal reasons.
And if anyone has an Actron ABS scanner it will only work on 02-05 Rams.

As far as resetting the lights, mine took several days to reset.
I tried unplugging the neg on battery after changing sensor.
Unplugging battery then changing sensor, and many other combinations.
Then it just reset itself.
I think it needs to learn itself (or be reset with scanner).