This procedure covers the removal and replacement of the Electric Power Steering (EPS) module on a 2023 Rivian EDV 500 delivery van.

Warnings

Tools required

Parts

• Electric Power Steering Control Module × 1 — Use OEM specification
• EPS module mounting bolts (if damaged) × 4 — Use OEM specification
• Electrical connector seals × 2 — Use OEM specification

Preparation

1. Park vehicle on a level surface and engage parking brake
2. Turn off vehicle and remove key fob from cabin area
3. Open front hood and locate 12V battery in front compartment
4. Disconnect negative terminal of 12V battery and secure cable away from terminal
5. Wait minimum 3 minutes for system capacitors to discharge
6. Verify high-voltage system is de-energized using appropriate safety procedures
7. Position steering wheel in straight-ahead position
8. Document or photograph electrical connector orientations before disconnection

Procedure

1. 1

   Access driver's side lower dashboard area
   Remove the lower driver's side dashboard trim panel by carefully releasing the retaining clips using trim panel removal tools. Start from the bottom edge and work upward to avoid breaking clips. Remove the panel and set aside in a safe location.
2. 2

   Locate EPS control module
   The EPS module is mounted on the steering column assembly behind the lower dashboard area. It is a rectangular metal housing approximately 6x4 inches with two electrical connectors on the side facing the driver's door. Identify the module and verify part number matches replacement unit before proceeding.
3. 3

   Disconnect primary EPS electrical connector
   Locate the larger primary connector on the EPS module (typically gray or black). Press down on the red safety lock tab and slide it outward. Depress the connector release tab while pulling the connector straight away from the module. Do not twist or rock the connector during removal.
   ⚠Do not use excessive force on electrical connectors. If connector does not release easily, verify safety lock is fully disengaged.
4. 4

   Disconnect secondary CAN bus connector
   Locate the smaller secondary connector (typically green or yellow) which carries CAN bus communication signals. Release the connector lock by pressing the tab on top and pull straight out from module. This connector may be secured with a secondary clip that must be released first.
5. 5

   Disconnect ground wire
   Locate the ground wire terminal attached to the EPS module housing with a single bolt. Remove the ground wire bolt and carefully position the wire out of the way. Note the exact position and routing of this ground connection for reinstallation.
6. 6

   Remove EPS module mounting fasteners
   Remove the four mounting bolts securing the EPS module to the steering column bracket. These are typically Torx T30 bolts. Support the module with one hand while removing the final bolt to prevent it from falling.
   ⚠Support the module during bolt removal as it may shift suddenly when the final fastener is removed.
7. 7

   Remove EPS module from vehicle
   Carefully slide the EPS module away from the steering column, maneuvering it past any interference points in the lower dashboard area. The module may need to be tilted or rotated to clear surrounding components. Remove module from vehicle and place on a clean, static-free work surface.
8. 8

   Inspect mounting area and connectors
   Inspect the steering column mounting bracket for any damage, corrosion, or worn hardware. Check electrical connectors for signs of corrosion, bent pins, or damage. Inspect connector seals and replace if worn or damaged. Clean mounting surfaces with electrical contact cleaner if necessary.
9. 9

   Position new EPS module
   Transfer any reusable mounting hardware from old module if applicable. Position the new EPS module onto the steering column bracket, aligning mounting holes. Ensure no wires or cables are pinched between the module and bracket. The module orientation is critical - verify alignment marks or reference photos taken during disassembly.
10. 10

    Install module mounting fasteners
    Install all four mounting bolts finger-tight first to ensure proper alignment. Then tighten bolts in a cross pattern to ensure even seating. Since no torque specifications are provided in the database, tighten bolts firmly using hand tools only - do not overtighten as this may damage the module housing or strip threads.
    ℹ️Without manufacturer torque specifications, use conservative tightening force. Bolts should be snug but not over-tightened.
11. 11

    Reconnect ground wire
    Reattach the ground wire to the EPS module housing in the exact position noted during removal. Ensure the connection point is clean and free of paint or corrosion. Tighten ground wire bolt firmly.
12. 12

    Reconnect electrical connectors
    Reconnect both electrical connectors to the EPS module, starting with the secondary CAN bus connector followed by the primary power/signal connector. Push each connector straight onto the module until an audible click is heard. Engage all safety locks and verify connectors are fully seated by attempting to pull them off with moderate force.
    ⚠Ensure connectors are fully seated and locked before proceeding. Loose connections can cause erratic steering behavior or module damage.
13. 13

    Reinstall dashboard trim
    Reinstall the lower dashboard trim panel by aligning clips and pressing firmly until all clips engage. Work from top to bottom to ensure proper seating. Verify trim panel is secure and flush with surrounding panels.
14. 14

    Reconnect 12V battery and perform system initialization
    Reconnect the negative terminal of the 12V battery. Using Rivian diagnostic software, perform EPS module programming and calibration procedures. This includes uploading correct software version, performing steering angle sensor calibration, and clearing any diagnostic trouble codes. Follow all prompts in the diagnostic software.
    ⚠️Vehicle must not be driven until EPS module is properly programmed and steering angle sensor is calibrated. Failure to complete programming may result in unsafe steering operation.

Reassembly

1. Verify all electrical connectors are fully seated and locked
2. Confirm all trim panels are properly installed and secured
3. Verify steering wheel is centered and matches straight-ahead wheel position
4. Clear all diagnostic trouble codes after successful programming

Verification

• Turn vehicle on and verify no EPS warning lights are illuminated on instrument cluster
• Using diagnostic scan tool, verify EPS module communication is active and no fault codes are present
• Perform steering wheel rotation test: turn wheel lock-to-lock while stationary to verify proper assist and no binding
• Perform low-speed test drive in a safe area to verify normal power steering assist at all speeds
• Verify steering returns to center properly after turns
• Confirm steering angle sensor reading matches actual steering wheel position using scan tool
• Verify no unusual noises, vibrations, or resistance in steering operation
• Confirm all dashboard warning lights remain off after test drive

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