He should have a code 12, 13, 14 or 15 on depending on if the brake pedal is pressed or not and if it is 4wd or 2wd.
If the ABS light is on when he accelerates and he gets a code 6 but both the cruise and the speedometer are working then he likely has an issue with the wiring between the DRAC and the ABS module. I'd start searching right at the module itself, I've seen corroded connectors there before.
Make sure you verify the operation of the brake switch input to the ABS module. It uses two different inputs, one hot while the brake is off and one hot while the brake is applied. If both inputs are off or both inputs are on at the same time it will set a soft code and activate the ABS warning light but will turn it off when you slow down below 15 mph. I chased that one around on my 93 Blazer for a while last summer haha!
You can perform motor tests by hooking up and unhooking the jumper which shows the diagnostics codes. It'll roll over a little bit each time.