I was doing some research before I attempt to identify the fault giving me intermediate ABS light illumination. I found this guide to checking basic DTCs for engine management on the 3.0 and engine management along with some of the major ancillary systems on a 3.5. Very useful information.
http://www2.pajeroclub.com.au/forum/showthread.php?t=33491
http://www2.pajeroclub.com.au/forum/showthread.php?t=33491