Brake burn smell plus both red and yellow brakes lights are on.?

[cessnaimpala]

1993 Ford E-150 van Owner smell left rear being hot and saw some smoke, both the Rear Anti Lock light and brake light (red lamp) come on after very hard brake pedal push. Was told by Ford Dealer Service Department that the Axle Speed Sensor was the most common problem. Changed speed sensor on axle, no fix. Both rear shoes on each side are still good. What have I over looked?

Did check emergency brake cable and it is fine you can pull both drums off easily. Did not have to adjust the start wheel to remove the drums. Only slight resistance as the drums are being removed over the shoes.

Both lights kick on at the same time. Turn off the key then the system resets and both lights are off when you restart the van. They may come on real quick or not for quite a while.

Brake over heating, I am not finding what has caused that. Both sides the brake shoes are in almost new condition. The drums were not hard to remove and did not have a ridge. I bled the brakes and the fluid was light see through tan and there was no grit or visible water in the fluid.

Could the ABS Actuator some how keep presure applied to the system?
The owner did not notice any slowing down of the van when the brakes got hot.

Before, during and after the lights come on the brake pedal travel is not changed. The brake pedal travel stays the same. Verified pressure to the front brakes are working as well.

What am I missing and/or not understanding on this?

[Pale Rider]

put the rear of the van up on jack stands, start vehicle apply brake pressure place in drive and let tires roll while idling, apply brake pedal until wheels stop and hold, place trans in nuetral, remove foot from brake pedal and rotate rear wheels by hand to see if there is any residual brake dragging or resistance. IF so, look at the brake lines for kink or brake hose from body to steel lines. sometimes the inside of the brake hose gets deteriorated and acts like a small flap closing off the hose inside acting as a one way valve which will keep brakes applied until it slowly bleeds off. this usually happens to the front caliper or rear disc brake calipers, not to many on the rear drum type...

are the shoes clean and free from grease or oil?...

which anti-lock set-up do you have 4 wheel abs?

tone ring and sensor on both front rotors, single sensor in rear differential?
debris from ferrous metals (rotors, drums) stick to the sensors. also check for cut wire or corroded connectors...
also did any shop or dealer hook-up a scanner to read codes?

[cessnaimpala]

This van has Rear Wheel Anti-Lock only. Rear sensor replace, turn out not the problem.
Unable to pull the code for after the key is turned off the system resets and the lights go out.
Replace ABS Hydraulic Unit, will see if that is the fix, if not will check and/or replace the rubber hose over the rear axle. I had not thought of the hose possibly being the culprit. Will post more if this problem is not solved.

Thank you for your help and suggestions.