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I would guess a signal problem from the wheel sensor(s) may cause a fault. Manuals are here...
http://www.steelsoldiers.com/showthread.php?121487-TMs-for-M939-Series-Trucks
Can't verify accuracy but I read the military put a low speed limit (41mph?) on the early M939s until they were upgraded with the ABS system. Bear in mind over braking is not something you want to do especially with no load meaning less traction.
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