I do not know if you can check it with the OBD2 scanner. I have always done it ruling everything I can think of out, then replacing it if nothing else works.
Making sure all the wires are good to the battery, starter and alternator.
Make sure you have spark.
Unplugging the CPS and seeing if you're voltage meter or fuel meter work properly (if you have voltage that is) If they both work correctly, then the CPS is bad.
You can also rule out the NSS but moving the shifter up and down, trying to start in N, the NSS can mask the CPS and code sometimes.
Has your truck overheated at all lately? that's the biggest reason for a failed CPS.
That's all I can think of off the top of my head. It's hard to diagnois through a computer.