This procedure covers the removal and replacement of the electric power steering motor on a 2022 Rivian EDV 500 delivery van.

Warnings

Tools required

Parts

• Electric power steering motor assembly × 1 — Use OEM specification
• Steering motor mounting gasket/seal × 1 — Use OEM specification
• Electrical connector seals (if damaged) × 1 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Ensure high voltage system is in safe mode (vehicle off for at least 10 minutes)
3. Disconnect 12V low voltage battery using proper EV disconnect procedure
4. Wait minimum 5 minutes after battery disconnect before proceeding
5. Raise and support vehicle on lift or jack stands rated for commercial EV weight
6. Remove front driver side wheel and inner fender liner for access
7. Document steering motor electrical connector orientation with photos

Procedure

1. 1

   Access steering motor compartment
   Remove the lower dash panel on driver side to expose the steering column area. Remove T30 Torx fasteners securing the panel. Set panel aside carefully to avoid damaging clips.
2. 2

   Disconnect steering position sensors
   Locate the steering angle sensor connector near the top of the steering column. Press the locking tab and disconnect the connector. Label connector for reinstallation.
3. 3

   Remove steering column access covers
   Remove the upper and lower steering column covers by releasing the retaining clips. These covers protect the steering motor mounting area. Work carefully to avoid breaking plastic tabs.
4. 4

   Disconnect power steering motor electrical connector
   Locate the main power steering motor connector on the motor housing. Slide the red safety lock away from the connector, then press the release tab and pull connector straight away from motor. Inspect connector pins for damage or corrosion.
5. 5

   Mark steering shaft alignment
   Using a paint pen or scribe, mark the alignment between the steering shaft and the steering motor output shaft. This ensures proper reassembly alignment and maintains steering wheel center position.
6. 6

   Remove steering shaft coupling bolt
   Locate the pinch bolt securing the steering shaft to the motor output shaft. Use a 13mm socket to remove the bolt. The coupling may be tight; use penetrating oil if necessary. Keep bolt for inspection.
7. 7

   Separate steering shaft coupling
   Carefully spread the coupling clamp using a small pry bar or flathead screwdriver. Do not damage the steering shaft or motor output shaft. The shaft should slide apart once the clamp is spread and bolt removed.
8. 8

   Remove motor mounting fasteners
   Remove the three T40 Torx bolts securing the steering motor to the steering rack housing. Support the motor weight as you remove the final bolt. Motor assembly weighs approximately 8-10 lbs.
9. 9

   Extract steering motor assembly
   Carefully pull the steering motor away from the rack housing. The motor may require slight rotation to clear surrounding components. Watch for any additional wiring harness clips. Remove and inspect the mounting gasket.
10. 10

    Inspect mounting surfaces and clean
    Inspect the steering rack motor mounting surface for damage, cracks, or corrosion. Clean mounting surface with wire brush and solvent. Check motor output shaft seal area on rack for wear or damage. Replace rack seal if leaking grease.
11. 11

    Prepare new steering motor
    Unpack new steering motor and verify part number matches original. Install new mounting gasket onto motor housing. Apply light coat of anti-seize to mounting bolt threads (not bolt heads). Verify motor output shaft rotates freely by hand.
12. 12

    Install new steering motor
    Position new motor assembly to steering rack housing, aligning the motor output shaft with the rack input shaft. Rotate motor slightly if needed for proper engagement. Start all three mounting bolts by hand before tightening any.
13. 13

    Reconnect steering shaft coupling
    Align the steering shaft with motor output shaft using alignment marks made during disassembly. Slide coupling together ensuring full engagement. Install pinch bolt and coupling clamp. Torque pinch bolt to specification when available, or 25 ft-lbs if no spec provided.
14. 14

    Reconnect electrical connections
    Reconnect the power steering motor main connector, ensuring it clicks into place. Slide red safety lock back into locked position. Reconnect steering angle sensor connector. Verify all connections are fully seated and locked.

Reassembly

1. Reinstall steering column covers in reverse order of removal, ensuring all clips engage properly
2. Reinstall lower dash panel and secure with T30 Torx fasteners
3. Reinstall inner fender liner and front driver side wheel
4. Torque wheel lug nuts to manufacturer specification in star pattern
5. Reconnect 12V low voltage battery using proper procedure
6. Do not start vehicle until steering system calibration is complete

Verification

• Connect Rivian diagnostic software or compatible scan tool to vehicle
• Perform steering angle sensor calibration procedure as required by diagnostic tool
• Clear any steering system fault codes stored during repair
• With vehicle still raised, power on vehicle and verify steering motor operates (listen for motor engagement)
• Lower vehicle and perform lock-to-lock steering test while stationary to verify full range of motion
• Test drive vehicle in safe area at low speed, verifying proper steering assist, no unusual noises, and correct steering wheel centering
• Re-scan vehicle for any new fault codes after test drive
• Verify steering wheel returns to center after turns and there is no binding or resistance

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