A few months late, but I've been doing some brake work on my 93 XLT this week. The truck will display the codes by flashing the ABS light. To trigger it, you have to find a small plug under the dash, behind the parking brake pedal. It's right next to where the main wiring harness goes through the firewall. You're looking for a small plug, with an orange/black wire on one side, a red wire on the other.
Turn the key on/engine off BEFORE UNPLUGGING IT. The red wire supplies power for memory, so unplugging it without the key on actually clears the codes.
With the key on, unplug the connector, then use a jumper wire to ground the orange/black wire for 1-2 seconds. That triggers the ABS light to start blinking. You'll probably miss the first flash or two, so disregard the first code it flashes...it'll repeat itself until you plug it back in or turn the key off (which clears the code).
I think it's a little different for 92 and earlier, the red wire was a new thing. The FSM has the procedure and the table for the codes.