WARNING: This page is about a different car, the 2003 Nissan Murano. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: CAN Communication System Description Chart (2WD Models) (1 Of 2)
Courtesy of NISSAN MOTOR CO., U.S.A.
Fig 2: CAN Communication System Description Chart (2WD Models) (2 Of 2)