This procedure covers the removal and replacement of the electric power steering control module on the 2024 Rivian EDV 500 commercial delivery van.

Warnings

Tools required

Parts

• Electric Power Steering Control Module × 1 — Use OEM specification
• Steering module wiring harness connector seals (if damaged) × 1 — Use OEM specification
• Module mounting grommets (if deteriorated) × 2 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Ensure vehicle is powered off and remove key fob from cabin
3. Open rear equipment access panel and disconnect 12V battery negative terminal
4. Wait minimum 2 minutes for system capacitors to discharge
5. Put on insulated high-voltage safety gloves
6. Document or photograph existing wiring connections before disassembly
7. Connect Rivian diagnostic tool to retrieve any existing fault codes

Procedure

1. 1

   Access driver side lower dash area
   Remove the lower driver side dash trim panel by pulling trim clips at the four corner locations. Gently pull panel away from firewall, then disconnect the hood release cable by pressing the release tab and sliding cable out of bracket.
2. 2

   Locate the EPS control module
   The electric power steering module is mounted on the firewall behind the lower dash panel, driver side near the steering column. It is a rectangular aluminum housing approximately 6 inches by 4 inches with two large electrical connectors and one smaller connector on the bottom face.
3. 3

   Disconnect module electrical connectors
   Starting with the smaller CAN bus connector (gray, 8-pin), press the red locking tab and pull connector straight out. Next, disconnect the two larger power and signal connectors (black, 24-pin each) by pressing the green locking tabs and carefully rocking connectors while pulling straight back. Avoid twisting connectors during removal.
4. 4

   Remove module mounting fasteners
   Remove the two 10mm mounting bolts securing the module bracket to the firewall. These bolts are located at the top corners of the module mounting bracket. Support the module with one hand while removing the second bolt to prevent it from dropping.
5. 5

   Remove steering module from vehicle
   Carefully slide the module forward and downward out of the mounting bracket. Maneuver module through the dash opening, angling it to avoid contact with steering column components. Note the orientation of the module for reinstallation.
6. 6

   Inspect mounting location and connectors
   Examine the firewall mounting surface for any signs of water intrusion, corrosion, or damage. Inspect all three electrical connectors for bent pins, corrosion, or damage to seals. Check mounting grommets for deterioration. Replace any damaged components before installing new module.
7. 7

   Prepare new steering module
   Remove new module from anti-static packaging. Verify part number matches original module. Apply dielectric grease to connector seals if not pre-installed. Transfer any mounting grommets or brackets from old module if they are in good condition and not included with replacement.
8. 8

   Install new module into mounting bracket
   Position new module into the firewall mounting bracket, ensuring proper orientation with connectors facing downward. Align module mounting holes with bracket holes. Insert and hand-start both 10mm mounting bolts before tightening either one.
9. 9

   Secure module mounting bolts
   Tighten both 10mm mounting bolts in a cross pattern to secure module evenly to firewall bracket. Tighten bolts firmly but do not over-torque as this may crack the module housing. Verify module sits flush against mounting surface with no gaps.
10. 10

    Reconnect electrical connectors
    Connect the two large 24-pin black connectors first, ensuring they are fully seated until a distinct click is heard from the locking tabs. Connect the smaller 8-pin gray CAN bus connector last. Gently tug on each connector to verify proper locking engagement.
11. 11

    Reinstall lower dash trim panel
    Reconnect hood release cable to bracket by sliding cable end into holder until it clicks. Position lower dash trim panel and align all trim clips with their respective receptacles. Press firmly around perimeter until all clips are fully engaged.
12. 12

    Reconnect 12V battery and initialize system
    Reconnect the 12V battery negative terminal at rear equipment access panel. Close access panel. Wait for vehicle systems to initialize (approximately 30 seconds). The steering warning light will illuminate on the instrument cluster.
13. 13

    Perform module calibration and configuration
    Using Rivian diagnostic tool, access the EPS module configuration menu. Follow prompts to perform steering angle sensor calibration with wheels pointed straight ahead. Execute module adaptation and clear any fault codes. Verify communication with all three module connectors shows no errors in diagnostic scan.

Reassembly

1. Ensure all electrical connections are fully seated and locked before operating vehicle
2. Verify no tools or parts are left in the dash area before reinstalling trim panels
3. Clear all diagnostic trouble codes after successful calibration

Verification

• Turn steering wheel lock-to-lock while stationary to verify smooth assist operation with no binding or unusual noises
• Perform diagnostic scan to confirm no fault codes present in EPS system
• Test drive vehicle at low speed in safe area to verify steering assist is functioning properly
• Verify steering wheel returns to center properly after turning
• Confirm steering angle sensor reading on diagnostic tool matches actual wheel position
• Check that steering warning light is extinguished on instrument cluster

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