steering

Electric Power Steering Motor

for 2021 Hyundai Tucson 2.5L I4 · AWD

Difficulty

Moderate

Time

2.5 h

Tools

Steps

This procedure covers the removal and replacement of the electric power steering motor assembly on a 2016-2024 Hyundai Tucson with 2.5L I4 AWD engine.

Warnings

⚠Disconnect the negative battery cable and wait at least 3 minutes before beginning work to allow airbag system capacitors to discharge.

⚠Do not turn the steering wheel with the motor disconnected, as this may damage the steering column lock mechanism.

ℹ️This vehicle uses electric power steering with no hydraulic fluid. Ensure replacement motor is compatible with vehicle production date and software version.

Tools required

10mm socket and ratchetEssential

12mm socket and ratchetEssential

14mm socket and ratchetEssential

17mm socket and ratchetEssential

Torque wrench (10-150 Nm range)Essential

Jack and jack standsEssential

Wheel chocksEssential

Trim panel removal tools

Wire brush

Electrical contact cleaner

Needle-nose pliersEssential

Parts

Electric power steering motor assembly × 1 — Use OEM specification
Mounting bolt seals (if equipped) × 2 — Use OEM specification

Preparation

Park vehicle on level ground and apply parking brake
Place wheel chocks behind rear wheels
Disconnect negative battery cable and wait 3 minutes
Turn steering wheel to center position and do not move it during repair
Raise front of vehicle and support securely on jack stands
Remove both front wheels

Procedure

1
Remove engine splash shield
Remove the plastic engine splash shield from underneath the vehicle. Remove all mounting screws and clips. Set shield aside for reinstallation.
2
Access steering motor area
From underneath the vehicle, locate the electric power steering motor mounted on the steering rack assembly on the driver's side. Clean the area around the motor to prevent contamination during removal.
3
Disconnect electrical connector
Locate the electrical connector on the power steering motor. Press the release tab and carefully disconnect the harness connector. Inspect connector pins for corrosion or damage.
⚠Do not pull on wires when disconnecting connector. Use the connector body only to avoid damaging wiring.
4
Remove motor protective cover
If equipped with a protective cover over the motor assembly, remove the cover screws and lift the cover away. Note the orientation of any seals or gaskets.
Torque spec
Cover Screws11 Nm (8 lb-ft)
5
Remove motor mounting bolts
Remove the mounting bolts securing the electric power steering motor to the steering rack housing. There are typically 2-3 bolts. Support the motor as you remove the final bolt to prevent it from dropping.
⚠Motor assembly weighs approximately 8-10 lbs. Support it properly during removal to avoid dropping.
Torque spec
Mounting Bolts27 Nm (20 lb-ft)
6
Remove steering motor assembly
Carefully pull the electric power steering motor away from the steering rack. The motor shaft will disengage from the rack pinion gear. Inspect the motor shaft and rack gear teeth for wear or damage.
7
Inspect mounting surface
Clean the mounting surface on the steering rack where the motor attaches. Inspect for cracks, damage, or metal shavings. Check that the rack gear teeth are intact and not worn excessively. Remove any debris with a clean cloth.
8
Prepare new motor for installation
Remove the new electric power steering motor from packaging. Verify it matches the original motor design and electrical connector configuration. Inspect the motor shaft splines for any shipping damage.
ℹ️Some replacement motors may require software calibration after installation. Verify calibration requirements before starting installation.
9
Install new steering motor
Align the motor shaft splines with the rack pinion gear. Carefully slide the motor into position, ensuring proper engagement. The motor should seat flush against the mounting surface without forcing.
10
Install and torque mounting bolts
Install the mounting bolts through the motor housing into the steering rack. Tighten bolts in a cross-pattern to ensure even seating. Torque mounting bolts to specification using a calibrated torque wrench.
Torque spec
Mounting Bolts27 Nm (20 lb-ft)
11
Reinstall protective cover
If equipped, reinstall the protective cover over the motor assembly. Ensure any seals or gaskets are properly positioned. Install and torque cover screws to specification.
Torque spec
Cover Screws11 Nm (8 lb-ft)
12
Reconnect electrical connector
Reconnect the electrical harness connector to the power steering motor. Ensure the connector clicks fully into place and the locking tab engages. Gently tug on the connector to verify secure connection.
13
Reinstall splash shield and wheels
Reinstall the engine splash shield with all screws and clips. Reinstall both front wheels and hand-tighten lug nuts. Lower vehicle to ground and torque lug nuts in a star pattern to specification.
Torque spec
Wheel Lug Nuts136 Nm (100 lb-ft)

Reassembly

Reconnect negative battery cable
Start engine and verify no warning lights appear on instrument cluster
Turn steering wheel slowly from lock to lock while stationary to allow system to calibrate
Some vehicles may require dealer-level scan tool to complete EPS motor calibration and clear fault codes

Verification

Start vehicle and verify electric power steering warning light does not illuminate
Test steering operation at idle - should be smooth with normal assist level
Test drive vehicle at various speeds and verify proper steering assist in all conditions
Check for any unusual noises from steering system during operation
Verify no fluid leaks from steering area (this system has no hydraulic fluid)
Scan vehicle for diagnostic trouble codes if steering warning light appears