Here is a bit more detail to get started.

http://www.peachparts.com/shopforum/showthread.php?t=107630

The link shows you how to build a homemade code reader, and how to use it.
Buried in the link is a 169-page pdf file with a lot of good information.
Pages 48-49 list the fault codes for the cruise control system and how to hook up the code reader.
Pages 58-59 list the fault codes for the ABS system and how to hook up the code reader.

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95 E320 Cabriolet, 169K