[Gangstapander]

My 2002 Nissain Xterras ABS light is on

 

[packpride85]

My 2002 Nissain Xterras ABS light is on

http://www.nicoclub.com/archives/nissan-xterra-factory-service-manuals.html

Check the ABS section in the service manual on how to read ABS codes. You're going to take a paper clip and jumper the pins it tells you on the OBD2 port. Then read the specific ABS light flashes that correspond to a code.