93 Camry V6 code reading

I have a 93 Camry V6 LE with and intermittent ABS light that comes on after about 15 minutes of driving but not all the time, does anyone know if I could pull the codes without a scan tool. Possibly jumpering to flash codes on dash?
Thanks

Yoy dont need a scan tool to read these.The procedure is in the Haynes manual along with the code number definations.

Thanks Joe,
I found it in the manual but it does not cover the ABS light. Is there another way to check it.
Thanks

No, you cannot diagnose without an ABS diagnostic tester. Check the brake fluid level, the electrical connections, and fuses. If none of these are the problem, then you have no recourse but to bring it to a brake shop or dealer.

I am sure this information is also in the Haynes manual.

Yes, you do need a scan tool to read an ABS code. I suspect that you have a bad wheel speed sensor. They occassionally go bad on that year/model.

Sorry to mislead you as the 97-01 Camry book shows how to jump the data link connectors,read the codes and what they mean.I took for granted that it was listed in the brake section of an older book.

Does anyone know if the wheel speed sensor can be purchased aftermarket the dealer wants $270 CDN. If I want to disable the ABS dash light what fuse should I pull there is a 60Amp rectangular clear top fuse but could not get it out is there a trick to it?