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OK, I don't have a problem paying $15.00 for the answer. I already knew that I can reset ABS light with a scanner, so that does not help me. If you can tell me which scanner to use (Brand name, approximate price and where I can buy it),I will accept the answer if information you give me is correct. I don't need to know about $4,000 - $5,000 scanner that Toyota dealers are using. What I am looking for is something like Autel Maxi Diags JP701. The only problem with this scanner is that it covers cars only up to 2008 year. I need something that will cover Japanese vehicles to the current year.
You can run a jumper between pin 4 and pin 13 (CG and TC respectively) and count the blinks of the ABS light. For example if it blinks 3 times, then pause briefly and then blinks one time, longer pause then repeats that would be a code 31. If you can't find a chart online of exactly what code you're looking at, just let me know and I'll tell you what it is.
To clear the codes, with the key off put your jumper (paperclip) between 4 and 13. Turn the ignition on, and press the brake pedal 8 times within 5 seconds. The light should now be a steady flash, rather than flashing with the code like above. Then just remove your paper clip and you're done :)