The fault code means that the ABS module isn't communicating with the Front Control Module via the CAN-BUS. This can be triggered by low battery voltage, bad earth or even bad contact within the connecting plugs.
Not a jeep diagnostic document but the same principles apply
This is how the jeep CAN-BUS is connected.
What you need is a diagnostic tool that can run an ABS test. If the test won't run then its a wiring issue or bad connection. If the test runs & fails I would be thinking the ABS module is the culprit.