Using TOYOTA Hand-held Tester
WARNING: This page is about a different car, the 2002 Toyota MR2 and 2001 Toyota MR2. However, it is still accessible from the selected car via links, so may be relevant.
Hook up hand held tester to DLC3. Start engine. Verify ABS light flashes 4 times per second. If ABS light does not operate as specified, go to ABS WARNING LIGHT under SYSTEM TESTS. Drive vehicle straight ahead at a speed greater than 28 MPH for several seconds. Stop vehicle. Read DTC be following prompts on hand held tester. Refer to operators manual for further details.