I'd forget the diagrams for now, just go straight to the diagnostic procedures in the FAQ using the connector on port #2 of OBD connector B. It should quickly point you to the problem area, or at least confirm which aspects are functioning correctly. Note that some of the procedures require you not to shut the engine off after a road test otherwise it would clear the cruise system.

Be suspicious of a failed cruise switch, also called a cruise control valve, or disconnected vacuum line at the brake pedal as a likely candidate. There are two switches at the pedal, you're looking for the one with the vacuum line as well as an electrical connector. I'd start with the Mode 2 Component Test and see if you can get the 1-3-2 code to verify that the switch is working.

Note when looking under the dash and at schematics, some of the later 940s used a different looking square black plastic *brake* switch, not the barrel metal brake switch used on the earlier cars. It looks a lot like the cruise switch, but doesn't have a vacuum line, so just keep that in mind. Your 1994 should still be using the earlier style brake switch.

I'll mention it now while I'm thinking of it, if you need to install a new switch then best to use a continuity meter across the terminals to help adjust it. Don't set it on the hairy edge, you should be able to depress the pedal a good 1/4"-1/2" before it trips. I set it a bit too close once and a year later it started occasionally kicking out on its own - took me a fair few minutes to isolate the problem starting under the hood and working my way back, I should just have gone straight to the DTM #2 test.
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Dave -still with 940's, prev 740/240/140/120 You'd think I'd have learned by now