This procedure covers the removal and replacement of the electric power steering module on a 2025 Rivian EDV 500 commercial delivery van with dual motor AWD configuration.

Warnings

Tools required

Parts

• Electric power steering control module × 1 — Use OEM specification
• EPS module connector seals (if damaged) × 1 — Use OEM specification
• Module mounting hardware (if corroded) × 1 — Use OEM specification

Preparation

1. Park vehicle on level surface and apply parking brake
2. Place wheel chocks behind rear wheels
3. Turn ignition to OFF position and remove key fob from vehicle interior
4. Open the front hood and locate the 12V auxiliary battery in the front compartment
5. Disconnect the 12V auxiliary battery negative terminal and wait 5 minutes for system capacitors to discharge
6. Retrieve any stored diagnostic trouble codes before beginning work
7. Ensure you have Rivian service account credentials for module programming after installation

Procedure

1. 1

   Access the driver side lower dash area
   Remove the driver side lower dash trim panel by releasing the plastic clips along the perimeter. Start at the bottom edge and work upward carefully. Set panel aside in a safe location to avoid damage.
2. 2

   Locate the EPS control module
   The electric power steering module is mounted on the left side of the steering column support bracket, above the pedal assembly. It is a rectangular aluminum-housed module with two main electrical connectors and a third smaller diagnostic connector.
3. 3

   Document connector positions and inspect
   Take photos of all connector orientations and positions before removal. Inspect connectors for any signs of corrosion, damage, or moisture intrusion. Check connector lock tabs for integrity.
4. 4

   Disconnect primary power connector
   Press the red locking tab on the large primary power connector and carefully slide it outward. The connector uses a secondary lock that must be released by pressing the small tab with a pick tool before the main connector body will release. Pull straight out to avoid bending pins.
5. 5

   Disconnect CAN bus communication connector
   Release the gray secondary lock on the CAN bus connector by lifting upward, then depress the primary connector lock tab and pull the connector straight back from the module. Be careful not to stress the wiring harness.
6. 6

   Disconnect diagnostic/programming connector
   The smaller third connector is the diagnostic port. Depress the locking tab and pull straight out. This connector may have a small weather seal boot that should be inspected and retained for reinstallation.
7. 7

   Remove module mounting fasteners
   Remove the three Torx bolts securing the EPS module to the mounting bracket. Support the module with one hand while removing the final bolt to prevent it from falling. Note the positions of any ground straps or brackets attached to the mounting bolts.
8. 8

   Remove the EPS module
   Carefully slide the module away from the mounting bracket. The module may have locating pins that require it to be moved in a specific direction. Rotate and angle as needed to clear the steering column and surrounding components. Set the old module aside.
9. 9

   Inspect mounting area and clean
   Inspect the mounting bracket for any signs of damage, cracks, or corrosion. Clean the mounting surface with a lint-free cloth. Verify that all ground contact points are clean and free of corrosion. Check the wiring harness for any chafing or damage.
10. 10

    Install new EPS module
    Position the new module onto the mounting bracket, aligning any locating pins or tabs. Ensure proper orientation by referencing your earlier photos. Start all three mounting bolts by hand before tightening to ensure proper alignment.
11. 11

    Torque mounting fasteners
    Tighten the three module mounting bolts in a star pattern to ensure even clamping pressure. Since specific torque values are not available in the database, follow the torque specification printed on the module label or supplied with the replacement module (typically 89-106 in-lbs for this type of module).
12. 12

    Reconnect electrical connectors
    Reconnect all three electrical connectors in reverse order of removal: diagnostic connector first, then CAN bus connector, then primary power connector. Each connector should click firmly into place. Verify that all secondary locks are engaged and that connectors are fully seated by checking for gaps.
13. 13

    Verify installation and reinstall trim
    Visually verify all connections are secure and properly routed. Ensure no wiring is pinched or stressed. Reinstall the lower dash trim panel by aligning the clips and pressing firmly until all clips engage. Reconnect the 12V auxiliary battery negative terminal.
14. 14

    Perform module programming and calibration
    Connect the OBD-II diagnostic tool and launch Rivian service software. Follow the on-screen prompts to program the new EPS module with the vehicle VIN and configuration data. Perform the steering angle sensor calibration procedure by turning the steering wheel lock-to-lock as directed by the software. This typically requires 2-3 full rotations in each direction with the vehicle stationary.

Reassembly

1. Ensure all electrical connectors are fully seated with secondary locks engaged
2. Verify no wiring harnesses are pinched or routed incorrectly
3. Confirm all trim panels are securely fastened with no gaps or loose clips
4. Double-check that 12V battery is reconnected with clean, tight connection

Verification

• Turn ignition to ON position and verify no new warning lights appear on instrument cluster
• Use diagnostic scan tool to confirm no EPS-related diagnostic trouble codes are present
• Verify that the power steering warning light is OFF
• With vehicle stationary and engine in Ready mode, turn steering wheel lock-to-lock to verify smooth power assist operation with no unusual noises
• Perform a low-speed test drive in a safe area to verify proper steering assist at various speeds
• Verify steering returns to center properly after turns
• Check that steering effort feels appropriate and consistent with normal operation
• Scan for codes again after test drive to ensure no new faults have been stored

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