1994 Ford Explorer ABS warning light

ABS system is different then your regular brake system and it work with it
you need to have the ABS system module check for codes as that will help to pin point the troubled area
possible wheel sensor
with out the scanner you can check fuses and relays related to the ABS system
check around the tires sensors for loose or broken wires
check brake fluid and float in the master cylinder
you really need a scanner to have the system scanned

good luck