I am in the business of supplying septic system materials. There are two things to consider when driving over a septic system:1) the tank and 2) the tilebed or leachfield.
Most tanks are concrete, but there are a lot of plastic tanks (Fralo for example) being used now. The plastic tanks are not rated for regular vehicular traffic. Always watch out for plastic lids on tank risers. Both concrete and plastic tanks can have risers with plastic lids at the lawn surface. Distribution boxes are also to be avoided. Lots of them being put in now are plastic and can also have risers to bring the access lid to the surface.
Your tilebed may not be damaged immediately with a vehicle driving over it, but over time, with excessive traffic, the soil in the bed can become compacted. This can cause bed failure. Effluent from the septic tank is distributed to the tiledbed where some percolates down and some travels up to grass roots and is absorbed by roots. Compacted soil prevents the effluent from moving upwards throught the soil to the grass roots. You can effeftively lose %50 of your tilebed's disposal capacity when this happens.
Lawn cutting and occasional traffic will not damage the bed as long as the bed is not wet(as mentioned by others). Turning your tilebed surface into a parking space for your vehicles is however, a bad idea. Avoid excessive traffic if possible, but don't be afraid of driving over your bed to cut the lawn. If your leaving ruts you're very likely compacting soil too.