This procedure covers the removal and replacement of the rear ABS wheel speed sensor on a 2023 Rivian EDV 500 electric delivery van.

Warnings

Tools required

Parts

• Rear ABS wheel speed sensor × 1 — Use OEM specification
• Sensor mounting bolt × 1 — Use OEM specification
• Wiring harness clips (if damaged) × 2 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Place wheel chocks at front wheels
3. Power down the vehicle completely using the center display
4. Wait 5 minutes for high-voltage system to discharge
5. Open rear cargo area and locate 12V battery access panel
6. Disconnect negative terminal on 12V battery
7. Connect scan tool and note existing ABS fault codes for the affected wheel

Procedure

1. 1

   Raise and support vehicle
   Loosen the rear wheel lug nuts while vehicle is on the ground. Raise the rear of the vehicle using a floor jack at the designated rear jacking point. Support the vehicle securely on jack stands at the frame rails. Remove the rear wheel on the side requiring sensor replacement.
2. 2

   Access sensor location
   Locate the ABS wheel speed sensor mounted on the rear knuckle assembly near the brake rotor. The sensor will be positioned with its tip facing the tone ring on the axle hub. Inspect the area for debris, corrosion, or physical damage.
3. 3

   Disconnect sensor electrical connector
   Follow the sensor wire harness from the sensor body toward the frame rail. Locate the electrical connector typically positioned near the suspension mount. Press the connector lock tab and carefully disconnect the sensor from the vehicle harness. Inspect connector pins for corrosion or damage.
4. 4

   Remove harness routing clips
   Trace the sensor wire from the connector to the sensor body. Release any plastic routing clips or retainers securing the wire to the suspension components, brake line brackets, or frame rail. Note the routing path for reinstallation. Use trim tools if necessary to avoid breaking clips.
5. 5

   Remove sensor mounting bolt
   Locate the single mounting bolt securing the ABS sensor to the rear knuckle. This bolt typically requires a 10mm socket. Remove the bolt completely and retain it if reusable (inspect threads for damage). If bolt is corroded, replacement is recommended.
6. 6

   Extract sensor from knuckle
   Carefully pull the sensor straight out from the mounting bore in the knuckle. If sensor is stuck due to corrosion, gently twist while pulling. Do not pry against the sensor body or use excessive force. If severely seized, apply penetrating oil and allow to soak for 15 minutes before attempting removal again.
7. 7

   Inspect tone ring and mounting bore
   With sensor removed, visually inspect the tone ring on the hub assembly for cracks, missing teeth, or excessive buildup of metallic debris. Inspect the sensor mounting bore in the knuckle for corrosion or damage. Use a wire brush to clean the bore if necessary. Check that the air gap between tone ring and mounting bore is consistent.
8. 8

   Prepare new sensor
   Remove new ABS sensor from packaging. Inspect sensor tip for any protective coating or shipping debris. Apply a thin coat of dielectric grease to the O-ring or sealing surface of the sensor body. Do not apply grease to the sensor tip itself.
9. 9

   Install new sensor
   Carefully insert the new sensor into the mounting bore in the knuckle, ensuring proper alignment with the tone ring. Push sensor fully into place until it seats against the mounting surface. Install the mounting bolt and hand-tighten initially. Since no torque specification is provided in the database, tighten the mounting bolt firmly by hand plus 1/4 turn, being careful not to overtighten and strip the threads.
10. 10

    Route sensor harness
    Route the sensor wire harness along the same path as the original, ensuring it does not contact any moving suspension components, the brake rotor, or areas subject to heat. Secure the harness with the routing clips noted during disassembly. Replace any broken clips. Maintain adequate slack to allow for full suspension travel.
11. 11

    Connect electrical connector
    Connect the sensor electrical connector to the vehicle harness. Ensure the connector locks firmly with an audible click. Gently tug on the connection to verify it is secure. Apply dielectric grease to the connector seal if environmental exposure is a concern.
12. 12

    Reinstall wheel and lower vehicle
    Reinstall the rear wheel, threading lug nuts by hand initially. Lower the vehicle until the tire just contacts the ground. Torque lug nuts to manufacturer specification (typically 140-150 lb-ft for this vehicle) in a star pattern. Fully lower vehicle and remove jack stands.
13. 13

    Reconnect 12V battery
    Return to rear cargo area and reconnect the negative terminal on the 12V battery. Ensure connection is tight and secure.

Reassembly

1. Ensure all wiring harness clips are secured and harness has adequate slack for suspension movement
2. Verify sensor mounting bolt is tight and sensor is fully seated in knuckle bore
3. Double-check that sensor wire does not contact any rotating or moving components
4. Confirm wheel lug nuts are torqued to specification

Verification

• Power on the vehicle and allow systems to initialize
• Connect scan tool and clear stored ABS fault codes
• Start vehicle and verify ABS warning light extinguishes after bulb check
• Use scan tool to monitor live data from the replaced wheel speed sensor while slowly rotating the wheel by hand (vehicle in neutral, parking brake off)
• Verify sensor generates signal pulses and reading is similar to opposite side sensor
• Perform a test drive at speeds above 15 mph to allow ABS system to complete self-check
• After test drive, use scan tool to verify no new ABS fault codes are present
• Verify proper ABS operation by confirming system does not activate unexpectedly during normal braking

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