help with error code

engine light came on last night so ive got the code 0420, which on the list means TW CATALYST SYS, now is this the lambda sensor? is there only 1 sensor cos ive read theres more than one on the almera, or is it summit else, is there such thing as a cat sensor?

weird how the light only came on at motorway speeds, its only ever been round the town driving and its never come on, which makes me think it is the lambda sensor cos my mr2 used to do exactly the same thing. help!!!
 
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