anti lock light stays on while driving

The 02 means there are no active codes for the ABS. Take a look at the chart below and you will see an option for the light being on and no codes.

This is the process we need to follow in order to find out what the issue is.

Here is a guide that will help with testing the voltage:

https://www.2carpros.com/articles/how-to-check-wiring

I suspect the ABS module is the issue but we need to run through this testing to find out.

Please see below for the testing and let me know if you have questions on this. Thanks