That's one thing I don't like about auto trannies. Since most of the fluid is in the torque converter, you either need one of those fancy machines, or you need to drain the pan and measure the amount, refill the pan, then disconnect the hose from the ATF cooler and direct that into a bucket. THen you run the engine until just a little less than what you drained from the pan is in the bucket, stop the engine, refill the pan, repeat. It takes like 4-5 gal of ATF to completely flush a LC80 tranny. And and around $8/qt, that's well over $120-150 right there for fluid. If it were a manual, you just drain & fill like you do w/ engine oil (3 qts synthetic, so only $25).
The other way is to drain & fill the ATF pan each time you change the oil. After a half dozen times or so, the old ATF should have been flushed out, but only 1/4 of the ATF will be new at any given time.
If you wait too long to flush the ATF (say, it's never done in 120K mi) and then flush, the new ATF can break debris loose, and that'll trash the tranny. I know one guy's brother did this to his old Celica...tranny died a week after the flush.