Inspection Procedure

WARNING: This page is about a different car, the 2002 Toyota Sienna. However, it is still accessible from the selected car via links, so may be relevant.

Check voltage between terminals +BM and GND and terminals +BS and GND of ABS actuator.
Preparation:

Disconnect the ABS actuator connector.

CHECK:

Measure the voltage between terminals +BM (24) - GND (1, 23) and terminals +BS (2) - GND (1, 23) ABS actuator harness side connector.

Fig 1: Locating ABS ECU Terminals 1, 2, 23 & 24
Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

OK :

Voltage: 10 -14 V .
1. NG: Check and replace fuses. Check and repair harness or connector.
2. OK: If the same code is still output after the DTC is deleted, check the contact condition of each connection. If the connection is normal, the ECU may be defective.