System Diagram

WARNING: This page is about a different car, the 2007 Toyota RAV4. However, it is still accessible from the selected car via links, so may be relevant.

Fig 1: Can Communication System Diagram (1 Of 2)

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Fig 2: Can Communication System Diagram (2 Of 2)

HINT:

The ABS and traction actuator (skid control ECU) detects and stores steering sensor and yaw rate sensor DTCs and performs DTC communication by receiving information from the steering sensor and yaw rate sensor.
The ECM uses the CAN communication system to perform DTC communication instead of the conventional communication line (SIL).