This procedure covers the removal and replacement of the electric power steering motor on a 2023 Rivian EDV 500 commercial delivery van.

Warnings

Tools required

Parts

• Electric power steering motor assembly × 1 — Use OEM specification
• Steering motor mounting gasket/seal × 1 — Use OEM specification
• High-voltage connector seals × 2 — Use OEM specification
• Zip ties for harness routing × 10 — UV-resistant automotive grade

Preparation

1. Park vehicle on level surface and engage parking brake
2. Ensure vehicle has been powered off for at least 10 minutes to allow HV system capacitors to discharge
3. Document current steering angle sensor readings using diagnostic tool
4. Mark steering wheel center position with tape or marker
5. Disconnect 12V auxiliary battery negative terminal
6. Raise front of vehicle and secure on jack stands
7. Remove front undertray panels for access to steering rack area

Procedure

1. 1

   Access steering motor compartment
   Remove the driver side front wheel. Remove the inner fender liner fasteners and peel back the liner to expose the steering rack area. You may need to remove additional belly pan sections depending on access requirements.
2. 2

   Disconnect electrical connectors
   Locate the steering motor on the steering rack assembly. Identify the main power connector and the position sensor connector (two separate connectors). Press the release tabs and carefully disconnect both connectors. Inspect connector seals for damage and replace if necessary.
   ⚠Do not pull on wires; use connector body only. These connectors have secondary locking tabs that must be released first.
3. 3

   Remove wiring harness brackets
   Cut any zip ties securing the steering motor wiring harness to the rack housing or subframe. Remove the harness support brackets (typically 2-3 fasteners) and route the harness clear of the motor assembly. Note the exact routing for reinstallation.
4. 4

   Remove steering motor mounting bolts
   Locate the three mounting bolts securing the steering motor to the steering rack housing. These are typically 10mm or 12mm hex head bolts. Remove all three bolts while supporting the motor weight. The motor may be spring-loaded against the rack.
5. 5

   Separate motor from rack assembly
   Carefully pull the steering motor away from the rack housing. The motor shaft engages with a worm gear or splined coupling inside the rack. You may need to rotate the motor slightly while pulling to disengage. Note the orientation of any alignment dowels or index marks.
6. 6

   Inspect mounting interface
   Inspect the mounting surface on the steering rack for damage, debris, or metal shavings. Check the gear teeth or spline interface for wear. Clean the mounting surface thoroughly with a lint-free cloth. Inspect the mounting gasket/O-ring groove for damage.
   ℹ️Any metal debris in the interface area could indicate internal rack wear and may require additional inspection.
7. 7

   Prepare new steering motor
   Unpack the new steering motor assembly. Verify it matches the removed unit in terms of connector types and mounting configuration. Install a new mounting gasket or O-ring onto the motor housing as specified by the replacement part instructions.
8. 8

   Install new steering motor
   Align the motor shaft with the rack coupling or worm gear. Ensure any alignment dowels are properly seated. Carefully push the motor into position while rotating slightly if needed to engage the splines. The motor should seat flush against the rack housing.
9. 9

   Install mounting bolts
   Install the three mounting bolts and hand-tighten them. Tighten the bolts in a star pattern to ensure even seating. Since no specific torque values are provided in the database, follow the torque specification included with the replacement motor or use Rivian's service specification (typically 15-25 ft-lbs for this type of fastener).
10. 10

    Reconnect wiring harness
    Route the wiring harness exactly as documented during removal. Reinstall all harness support brackets and secure with new zip ties. Ensure no wires contact moving components or sharp edges.
11. 11

    Connect electrical connectors
    Clean the connector pins on both the motor and vehicle harness with electrical contact cleaner. Install new connector seals if provided with the motor. Connect both the power connector and position sensor connector, ensuring you hear/feel a positive click as the locking tabs engage. Verify secondary locks are engaged.
12. 12

    Reinstall access panels
    Reinstall the inner fender liner, undertray panels, and wheel. Torque wheel lug nuts to Rivian specification. Lower the vehicle from jack stands.
13. 13

    Perform system initialization
    Reconnect the 12V battery. Power on the vehicle without entering drive mode. Using the Rivian diagnostic tool, perform a steering angle sensor calibration and steering motor initialization procedure. This typically involves turning the steering wheel lock-to-lock while the system learns the new motor characteristics.
    ⚠Do not attempt to drive the vehicle until the steering system calibration is complete and no fault codes are present.

Reassembly

1. All panels and components should be reinstalled in reverse order of removal
2. Ensure all electrical connectors are fully seated with locking tabs engaged
3. Verify no tools or parts are left in the work area
4. Double-check that all harness routing matches original configuration

Verification

• Power on the vehicle and verify no steering system warning lights are illuminated on the instrument cluster
• Use diagnostic tool to confirm no active fault codes related to power steering
• With vehicle stationary, turn the steering wheel lock-to-lock and verify smooth operation with appropriate assist
• Verify steering wheel center position matches the documented pre-removal position
• Perform a low-speed test drive in a safe area to confirm normal steering feel and response
• Recheck all fasteners and connections after test drive

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