steering

Electric Power Steering Module

for 2022 Rivian EDV 500 Dual Motor AWD (EDV) · AWD

Difficulty

Advanced

Time

2.5 h

Tools

Steps

This procedure covers the removal and replacement of the Electric Power Steering (EPS) module on the 2022 Rivian EDV 500, including disconnection of the high-voltage system and recalibration.

Warnings

⚠️This vehicle uses a high-voltage electrical system (up to 800V). Always follow high-voltage safety procedures and wear appropriate PPE. Failure to de-energize the system can result in severe injury or death.

⚠️Never work on the steering system with the vehicle on an incline or without proper wheel chocks. Unexpected vehicle movement can cause serious injury.

⚠The EPS module must be calibrated after installation. Failure to perform steering angle sensor calibration will result in incorrect steering assist and potential ADAS malfunctions.

⚠Do not disconnect the 12V battery before de-energizing the high-voltage system, as this prevents proper HV system shutdown sequencing.

ℹ️This procedure requires access to Rivian diagnostic software for module initialization and steering calibration. Independent shops may need authorized access or partnership.

Tools required

High-voltage insulated gloves (Class 0 or higher)Essential

Multimeter with high-voltage capabilityEssential

Rivian diagnostic scan tool or compatible ADAS calibration toolEssential

Socket set (metric, 8mm-19mm)Essential

Torque wrenchEssential

Trim panel removal tools

Wire brush for electrical contacts

Dielectric grease

Safety cones or wheel chocksEssential

Parts

Electric Power Steering Module × 1 — Use OEM Rivian specification
EPS module wiring harness connector seals (if damaged) × 1 — Use OEM specification
Steering column interface gasket/seal × 1 — Use OEM specification

Preparation

Park vehicle on level ground and apply parking brake firmly
Place wheel chocks behind rear wheels
Ensure front wheels are in straight-ahead position
Turn vehicle OFF and remove key fob from vehicle interior (place at least 15 feet away)
Allow vehicle to fully power down for at least 5 minutes before proceeding
Verify you have high-voltage safety equipment and training before proceeding

Procedure

1
De-energize the high-voltage system
Put on high-voltage insulated gloves. Open the front hood and locate the HV battery service disconnect under the front storage compartment. Remove the access cover and pull the manual service disconnect (MSD) to de-energize the high-voltage system. Wait 5 minutes for capacitors to discharge. Use a multimeter to verify zero voltage at the HV service points before proceeding.
⚠️Always verify zero voltage with a multimeter before touching any orange high-voltage cabling or components.
2
Disconnect 12V battery
After HV system is de-energized, locate the 12V battery in the front compartment. Disconnect the negative terminal first, then the positive terminal. Isolate terminals to prevent accidental reconnection.
3
Remove lower dashboard panel and access panels
From inside the vehicle, remove the lower dashboard trim panel below the steering column using trim removal tools. Remove the knee bolster panel to expose the steering column and EPS module mounting area. Disconnect any ambient lighting or USB connectors as needed.
4
Document and disconnect EPS module connectors
Locate the EPS module mounted on the steering column. Take photos of all connector orientations for reference. Release the locking tabs on the main power connector (large connector) and the CAN bus communication connector (smaller connector). Carefully disconnect both connectors from the EPS module. Inspect connector pins and seals for damage.
5
Remove intermediate shaft connection
Locate the intermediate steering shaft U-joint connection between the EPS module output and the steering rack input shaft. Mark the alignment of the shaft coupler for proper reassembly. Remove the pinch bolt securing the intermediate shaft to the EPS module. Carefully separate the intermediate shaft from the module spline.
6
Remove EPS module mounting fasteners
Locate the EPS module mounting bolts (typically 3-4 bolts securing the module to the steering column bracket). Support the module with one hand and remove all mounting bolts. Note the location of any ground straps or brackets that must be reinstalled.
7
Remove EPS module from vehicle
Carefully lower the EPS module away from the steering column. Maneuver the module past any wiring harnesses or trim panels. Remove the module from the vehicle through the driver footwell area. Handle with care to avoid impact damage to internal components.
8
Prepare and install new EPS module
Compare the old and new modules to verify correct replacement part. Clean the steering column mounting surfaces with a wire brush if needed. Apply a thin coat of dielectric grease to the steering shaft spline on the new module. Position the new EPS module into the vehicle and align it with the steering column mounting bracket.
9
Install EPS module mounting fasteners
Align the EPS module with mounting holes and install all mounting bolts finger-tight. Ensure any ground straps are properly positioned. Tighten mounting bolts in a star pattern to prevent binding. Since no torque specification is provided in the database, follow torque specifications from the Rivian service manual for steering column components.
10
Connect intermediate shaft
Align the intermediate steering shaft with the EPS module output spline using the alignment marks made during disassembly. Ensure the shaft is fully seated on the spline. Install the pinch bolt and tighten to specification per Rivian service manual. Verify no binding by rotating the steering wheel slightly (do not force).
11
Reconnect EPS module electrical connectors
Reconnect the CAN bus communication connector to the EPS module until it clicks into place. Reconnect the main power connector and ensure the locking tab engages fully. Verify all connector seals are properly seated. Secure any wiring harness clips or ties to prevent interference with moving parts.
12
Reinstall interior trim panels
Reinstall the knee bolster panel and lower dashboard trim panel. Reconnect any ambient lighting or USB connectors. Ensure all trim clips are fully engaged and panels are secure.
13
Reconnect batteries and energize vehicle
Reconnect the 12V battery: positive terminal first, then negative terminal. Reinstall the high-voltage manual service disconnect (MSD) in the front compartment. Replace the MSD access cover. Wait for the vehicle to complete its self-check sequence (approximately 30 seconds).
14
Perform EPS module initialization and calibration
Connect the Rivian diagnostic scan tool to the vehicle OBD-II port. Power on the vehicle to accessory mode. Follow the scan tool prompts to initialize the new EPS module and register it with the vehicle network. Perform steering angle sensor calibration with wheels straight ahead. Complete the ADAS calibration procedures as prompted by the diagnostic tool. Clear any fault codes that may have been set during replacement.

Reassembly

Verify all electrical connectors are fully seated with locking tabs engaged
Confirm intermediate shaft pinch bolt is properly torqued and shaft alignment marks match
Ensure all interior trim panels are securely fastened with no rattles
Verify high-voltage system is properly reconnected and all service covers are installed

Verification

Turn the vehicle to ON position and verify no EPS warning lights on the instrument cluster
Check for any fault codes using the diagnostic scan tool; clear any false codes from the replacement procedure
With the vehicle still in Park, turn the steering wheel lock-to-lock slowly to verify smooth assist with no binding, clicking, or unusual noises
Perform a slow-speed test drive in a safe area to verify proper steering assist at various speeds
Verify proper operation of lane-keeping assist and other ADAS features dependent on steering angle sensor
Confirm steering returns to center properly after turns
Re-scan for fault codes after test drive to ensure no new issues have appeared