This procedure covers the removal and replacement of the rear ABS wheel speed sensor on a 2024 Rivian EDV 500 delivery van, including sensor removal, connector service, and system verification.

Warnings

Tools required

Parts

• Rear ABS wheel speed sensor × 1 — Use OEM Rivian specification
• Sensor mounting bolt × 1 — Use OEM specification if damaged
• Wiring harness clips × 1 — As needed if damaged

Preparation

1. Park vehicle on a level surface and engage the parking brake
2. Power down the vehicle completely using the infotainment system power-off procedure
3. Disconnect the 12V battery negative terminal and wait 2 minutes for system capacitors to discharge
4. Raise and safely support the vehicle on a lift or jack stands at the manufacturer-specified lift points
5. Remove the rear wheel on the side requiring sensor replacement
6. Clean the wheel hub area and sensor mounting location with a wire brush to remove brake dust and debris

Procedure

1. 1

   Access the wheel speed sensor connector
   Locate the wheel speed sensor wiring harness running from the rear hub assembly. Trace the harness forward toward the frame rail where it connects to the vehicle harness. On the EDV 500, this connector is typically located behind the rear wheelwell liner or near the rear suspension mounting area. If necessary, remove wheelwell liner clips or fasteners to access the connector.
2. 2

   Disconnect the sensor electrical connector
   Press the locking tab on the wheel speed sensor connector and carefully separate the connector halves. Inspect the connector terminals for corrosion, contamination, or damage. If the connector shows signs of moisture intrusion, clean and apply dielectric grease to the terminals upon reassembly.
3. 3

   Release wiring harness routing clips
   Follow the sensor wiring harness from the connector to the sensor, releasing any plastic routing clips or retainers securing the harness to the frame, suspension components, or brake lines. Note the exact routing path for proper reinstallation. Replace any broken clips.
4. 4

   Remove sensor mounting bolt
   Locate the wheel speed sensor mounting bolt on the rear hub assembly or knuckle. Apply penetrating lubricant to the bolt threads and allow to soak for several minutes. Using a 10mm socket and ratchet (not an impact tool), carefully remove the sensor mounting bolt. If the bolt is seized, apply additional penetrating lubricant and allow more time before attempting removal.
5. 5

   Extract the wheel speed sensor
   Carefully pull the wheel speed sensor straight out of the hub assembly bore. The sensor may be held in place by magnetic attraction or corrosion. If the sensor is difficult to remove, gently rotate it while pulling to break the seal. Do not use excessive force or pry against the sensor body as this may damage the mounting bore.
6. 6

   Inspect the sensor bore and tone ring
   Once the sensor is removed, inspect the mounting bore in the hub assembly for damage, corrosion, or debris. Clean the bore with a wire brush if necessary. Visually inspect the ABS tone ring (reluctor ring) on the axle shaft or CV joint for cracks, missing teeth, or excessive debris buildup. Clean the tone ring surface if needed. Any damage to the tone ring requires replacement of the affected component.
7. 7

   Prepare the new sensor
   Remove the new wheel speed sensor from its packaging. Inspect the sensor tip for any protective caps or shipping materials and remove them. Check that the sensor O-ring or seal is properly seated in its groove. Apply a thin coat of clean brake fluid or dielectric grease to the sensor body to aid installation and future removal.
8. 8

   Install the new wheel speed sensor
   Carefully insert the new sensor into the hub assembly bore, ensuring proper alignment. Push the sensor in until it is fully seated and the mounting hole aligns. Do not force the sensor or allow it to contact the tone ring. The sensor tip should sit at the proper air gap distance from the tone ring automatically when fully seated.
9. 9

   Install and tighten the sensor mounting bolt
   Install the sensor mounting bolt (new or original if in good condition) and hand-tighten initially to ensure proper thread engagement. Tighten the bolt to secure the sensor. Since no torque specification is provided in the database, tighten the bolt snugly but do not overtighten, as this may crack the sensor housing. Typical specification for similar sensors is 8-10 Nm, but follow manufacturer guidelines when available.
10. 10

    Route and secure the sensor wiring harness
    Route the sensor wiring harness along the original path, ensuring it does not contact any moving suspension components, sharp edges, or hot surfaces. Secure the harness with all original routing clips and retainers. Verify there is adequate slack for full suspension travel and steering movement without placing tension on the sensor connection.
11. 11

    Reconnect the electrical connector
    Align and connect the wheel speed sensor connector to the vehicle harness connector. Ensure the connector locks fully with an audible click. If dielectric grease was applied, verify the connection is still secure. Gently tug on the connection to confirm it is properly latched.
12. 12

    Reinstall wheelwell components and wheel
    Reinstall any wheelwell liner fasteners or trim panels that were removed for access. Install the rear wheel and tighten the lug nuts to the manufacturer's specification in a star pattern. Lower the vehicle to the ground.
13. 13

    Reconnect the 12V battery and power up systems
    Reconnect the 12V battery negative terminal and ensure the connection is secure. Power on the vehicle systems and verify that the infotainment display boots normally. Check the instrument cluster for any ABS warning lights.
14. 14

    Perform ABS system initialization
    Connect the Rivian diagnostic software or compatible scan tool to the vehicle's OBD-II port. Navigate to the ABS system module and perform a wheel speed sensor initialization or relearn procedure. This ensures the ABS control module recognizes the new sensor and calibrates the baseline signal. Clear any stored fault codes related to the wheel speed sensor that was replaced.

Reassembly

1. Ensure all wiring harness routing clips are properly secured and the harness follows the original path without interference
2. Verify the sensor mounting bolt is secure and the sensor is fully seated in the hub bore
3. Confirm all wheelwell liner fasteners and trim panels are reinstalled properly
4. Double-check wheel lug nut torque after lowering the vehicle

Verification

• With the vehicle powered on, verify the ABS warning light illuminates briefly during startup and then extinguishes, indicating normal system operation
• Using diagnostic software, monitor live wheel speed sensor data from all four wheels to confirm the replaced sensor is providing a signal
• Perform a low-speed test drive in a safe area and verify the wheel speed sensor signal is consistent and the ABS warning light does not illuminate
• Accelerate to approximately 15-20 mph and apply moderate braking to verify ABS functionality without warning lights
• Return to the shop and perform a final diagnostic scan to confirm no ABS-related fault codes are present

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