WARNING: This page is about a different car, the 2016 Toyota Highlander, 2015 Toyota Highlander, and 2014 Toyota Highlander. However, it is still accessible from the selected car via links, so may be relevant.
Either of the following conditions is met:
OFF MALFUNCTION:
Turbine speed - Output speed x Gear ratio
1, 000 rpm or more
ON MALFUNCTION:
Input (turbine) speed/Intermediate shaft speed when output speed less than 1, 000 rpm