I went out and got in my 00 f150 to go to work and my ABS light stayed on. I turned off the truck and restarted it and it was still on. I went to leave and got a mile down the road and it turned back off and hasnt been back on since (this was a few days ago) I checked my Edge and it didnt read any codes?

 

I don't think the edge will read ABS codes but a scanner will read the code in history to tell you what was going on [AutoZone code reader will not read ABS codes]. You might have had some trash on one of the wheel sensors.

 

there is an abs speed sensor on your rear diff. that is prone to going out...its really simple to find...its on the top of the pumpkin and it has an electrical line running to it...all you have to do is unplug the line, remove the one bolt...pull out the sensor, and push a new one in...put the line and bolt back on...they are like 25$ at the parts store...if that doesn't work, check the wheel sensors out...

 

I gotta 2000 f150 also. Last week I had the same problem . Turned out that was my problem as well. It cost me $25.00 from advance auto parts. Thanks to all the guys here. I think I got out pretty cheap! Maybe this is your problem as well .