This procedure replaces the electronic parking brake (EPB) motor on the rear brake caliper assembly of a 2016-2024 Hyundai Tucson with 2.5L I4 engine and AWD.

Warnings

Tools required

Parts

• Electronic Parking Brake Motor Assembly × 1 — Use OEM Hyundai part number for specific rear axle
• EPB motor O-ring or seal (if not included with motor) × 1 — Verify if included with motor assembly

Fluids

• DOT 4 Brake Fluid — 0.25 qt

Preparation

1. Verify you have a bi-directional scan tool capable of Hyundai EPB service functions (retract/release mode). Generic code readers will NOT work for this job.
2. Park vehicle on level ground and place transmission in Park. Apply parking brake initially, then release once wheel chocks are in place.
3. Place wheel chocks in front of and behind the front wheels to prevent rollaway when EPB is disabled.
4. Check brake fluid level in master cylinder reservoir and mark the current level. Have DOT 4 fluid available to top off after service.
5. Connect the scan tool to the OBD-II port and verify communication with the EPB control module before beginning disassembly.
6. Loosen rear wheel lug nuts 1/4 turn while vehicle is on the ground.
7. Raise the rear of the vehicle using a floor jack at the manufacturer-specified jacking point and support securely on jack stands at the frame rails.
8. Remove the rear wheel completely on the side being serviced.

Procedure

1. 1

   Activate EPB service mode and retract caliper piston
   Using the bi-directional scan tool, navigate to the EPB control module. Select 'EPB Service Mode' or 'Maintenance Mode' function. Execute the 'Retract' or 'Release' command to fully retract the EPB actuator piston into the caliper. You should hear the motor running and see the piston moving inward. Wait until the scan tool indicates the retraction is complete. Do NOT proceed until the scan tool confirms the actuator is fully retracted.
   ⚠️If the scan tool cannot communicate with the EPB module or cannot activate service mode, STOP. Do not attempt to remove the EPB motor without proper retraction, as this can damage components and cause injury.
2. 2

   Disconnect EPB motor electrical connector
   Locate the electrical connector on the EPB motor assembly on the rear of the caliper. Press the locking tab and carefully disconnect the wiring harness connector. Move the harness out of the work area to prevent damage.
   ⚠Do not pull on the wires themselves; grip only the connector body to avoid damaging the terminals.
3. 3

   Remove EPB motor mounting bolts
   Identify the EPB motor mounting bolts (typically two bolts securing the motor to the rear caliper body). Using the appropriate socket (typically 10mm or 12mm), remove both mounting bolts completely. Keep these bolts as they may be reused if in good condition.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
4. 4

   Remove EPB motor from caliper
   Carefully pull the EPB motor assembly straight out from the caliper body. The motor shaft engages with the caliper piston actuator mechanism. It may require gentle wiggling to disengage. Once removed, inspect the motor mounting surface and O-ring groove on the caliper for damage, corrosion, or debris.
   ⚠If the motor does not remove easily, verify that the actuator was fully retracted in Step 1 and that both mounting bolts were completely removed. Do not force removal.
5. 5

   Inspect and clean mounting surfaces
   Remove the old O-ring or seal from the EPB motor mounting surface on the caliper. Clean the mounting surface thoroughly with brake cleaner and a wire brush to remove any corrosion, old seal material, or debris. Inspect the caliper actuator mechanism visible in the mounting hole for damage. Clean the mounting bolt holes and threads.
6. 6

   Prepare new EPB motor for installation
   Unpack the new EPB motor assembly. Verify it matches the original part. Install the new O-ring or seal onto the motor body if it was provided separately (some motors come with the seal pre-installed). Lightly lubricate the O-ring with clean brake fluid to ease installation. Inspect the motor shaft and ensure it is clean and free from debris.
7. 7

   Install new EPB motor
   Align the new EPB motor shaft with the caliper actuator mechanism. The motor will only install in one orientation; verify correct alignment before applying pressure. Push the motor straight into the caliper body until it seats fully against the mounting surface. The O-ring should compress and create a seal. Ensure the motor is seated completely before installing bolts.
   ⚠Do not force the motor if it does not seat easily. Verify shaft alignment with the actuator mechanism and ensure the O-ring is properly positioned.
8. 8

   Install and torque EPB motor mounting bolts
   Thread both EPB motor mounting bolts by hand to avoid cross-threading. Once both bolts are hand-tight, torque them to 27.0 Nm (20.0 lb-ft) in a crisscross pattern to ensure even seating of the motor against the caliper body.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
9. 9

   Reconnect EPB motor electrical connector
   Reconnect the wiring harness connector to the new EPB motor. Ensure the connector locks securely with an audible click. Gently tug on the connector to verify it is fully seated and latched.
10. 10

    Exit EPB service mode and perform initial function test
    Using the scan tool, exit EPB service mode. The scan tool may automatically extend the actuator, or you may need to select 'Apply' or 'Engage' function. Execute the command to apply the parking brake electrically. You should hear the motor operate and the scan tool should confirm successful engagement. Then release the parking brake using the scan tool and verify successful release. Repeat this cycle 2-3 times to verify proper motor operation.
11. 11

    Reinstall wheel and lower vehicle
    Reinstall the rear wheel, threading lug nuts by hand initially. Tighten lug nuts in a star pattern until snug but not fully torqued. Lower the vehicle until the tire just contacts the ground. Torque the wheel lug nuts to 140.0 Nm (103.0 lb-ft) in a star pattern. Fully lower the vehicle and remove jack stands.
    Torque spec

    Wheel Lug Nuts140 Nm (103 lb-ft)
12. 12

    Check and top off brake fluid
    Open the brake fluid reservoir and check the fluid level. Top off with fresh DOT 4 brake fluid to the MAX line if needed. The level should be near where it was before service. Wipe any spilled fluid immediately. Securely reinstall the reservoir cap.

Reassembly

1. Ensure the EPB motor electrical connector is fully seated and locked.
2. Verify all mounting bolts are torqued to specification and no tools or parts were left in the wheel well.
3. Confirm brake fluid level is at the proper level in the reservoir.

Verification

• With the vehicle on level ground and the scan tool still connected, perform EPB function tests: apply and release the parking brake electrically 5-10 times, verifying smooth operation each time with no unusual noises.
• Start the engine and verify no EPB warning lights are illuminated on the instrument cluster. Check for diagnostic trouble codes using the scan tool; there should be none related to the EPB system.
• With the engine running, apply the EPB using the dashboard switch (not the scan tool). Shift to Drive and gently attempt to move forward; the vehicle should be held securely. Release the EPB and verify the warning light extinguishes.
• Test drive the vehicle in a safe area. Perform several normal brake applications to verify regular service brake function is not affected. At low speed (under 10 mph) on level pavement, test the EPB apply function while rolling to verify it engages smoothly.
• After test drive, recheck brake fluid level and verify no leaks are present at the EPB motor mounting location.
• If the vehicle will not be driven immediately, apply the parking brake and verify it holds the vehicle on a slight incline before returning to service.

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