Replacement of the electronic parking brake (EPB) motor/actuator on a 2024 Model Y Performance rear caliper. The EPB motors are integrated into the rear caliper assembly and must be retracted electronically before removal.

Warnings

Tools required

Parts

• Electronic Parking Brake Motor/Actuator (rear, side-specific) × 1 — Tesla Model Y rear EPB actuator — confirm left/right with VIN at parts counter
• EPB actuator-to-caliper mounting bolts (if supplied with new actuator) × 3 — OEM specification
• EPB actuator O-ring/seal (if supplied) × 1 — OEM specification

Preparation

1. Park on level ground, place in P, engage parking brake.
2. Exit ALL doors with key fob away from the vehicle. Wait at least 2 minutes for HV systems to fully de-energize, even on this non-HV job.
3. BEFORE disconnecting 12V: enter Tesla Service Mode on the touchscreen and use the EPB service/retract function to fully retract the parking brake actuator pistons. This is mandatory — skipping this step risks damage to the new actuator and injury during removal.
4. Disconnect the 12V low-voltage battery (located under the rear cargo area floor / behind the rear seat area on 2024 Model Y — refer to architecture notes). Wait 2 minutes after disconnection before proceeding.
5. DO NOT touch, cut, or pierce ANY orange cable — these are high-voltage and lethal.
6. If at any point you encounter an orange cable, an HV component, or are unsure if a system is de-energized: STOP and consult a Tesla-certified technician.
7. Loosen rear lug nuts while wheels are on the ground.
8. Raise the vehicle using Tesla-approved lift points with puck adapters; support on jack stands if not on a lift.
9. Identify which side(s) require EPB motor replacement based on diagnostic codes.

Procedure

1. 1

   Remove rear wheel
   Remove the lug nuts and pull the rear wheel from the affected side. Set aside on a wheel mat to protect the finish.
2. 2

   Inspect caliper and locate EPB actuator
   The EPB motor is bolted to the back of the rear brake caliper body. Visually identify the actuator housing, its electrical connector, and its mounting fasteners (typically three bolts on the rear face of the caliper).
   ⚠Confirm the EPB has been retracted via Service Mode before proceeding. If you did not perform the retraction, STOP and do so now.
3. 3

   Disconnect EPB electrical connector
   Release the locking tab on the EPB wiring harness connector and unplug it from the actuator. Move the harness aside and secure it so it is not pulled or strained during removal.
4. 4

   (Optional) Remove caliper for better access
   If access to the EPB mounting bolts is restricted, remove the caliper slide pin bolts to lift the caliper off the bracket. Support the caliper with a hanger — do not let it dangle from the brake hose. This step is often optional; many technicians can replace the EPB motor with the caliper still mounted.
   ⚠Never allow the caliper to hang from the flexible brake hose — internal damage can cause failure under pressure.
   Torque spec

   Caliper Slide Pin Bolts35 Nm (26 lb-ft)
5. 5

   Remove EPB actuator mounting bolts
   Loosen and remove the bolts (typically three) securing the EPB motor to the caliper body. Keep them organized — note any length differences.
6. 6

   Remove the EPB motor from the caliper
   Pull the actuator straight off the caliper body. The actuator engages a drive nut/spindle inside the caliper — do not pry aggressively. If it sticks, gently rock it free. Inspect the spindle interface and the O-ring seat for debris or corrosion.
   ⚠Do not contaminate brake friction surfaces. If brake fluid or grease contacts the rotor or pads, clean thoroughly with brake cleaner or replace pads.
7. 7

   Prepare new EPB actuator
   Compare the new actuator to the old one (orientation, connector position, drive coupling). Install the new O-ring/seal if supplied. Verify the drive coupling on the new actuator is in the fully-retracted position to match the retracted spindle inside the caliper.
8. 8

   Install new EPB actuator
   Align the actuator drive coupling with the caliper spindle and seat the actuator flush against the caliper body. The actuator should sit fully home with no gap before installing fasteners — if it does not, do not force it; rotate slightly to engage the coupling.
9. 9

   Torque EPB mounting bolts
   Install the three EPB mounting bolts and tighten in a cross/star pattern in two passes. Final torque to the manufacturer-specified value (commonly in the ~10-12 Nm range for EPB actuator bolts — verify with Tesla Service Manual before final torque). Torque to OEM specification — refer to Tesla Service Manual.
   ⚠Do not over-torque EPB actuator bolts — the housing is plastic/composite and can crack.
10. 10

    Reconnect EPB electrical connector
    Reconnect the harness to the new actuator until you hear/feel the locking tab engage. Verify the connector is fully seated and the lock is engaged.
11. 11

    Reinstall caliper (if removed)
    If the caliper was removed in step 4, apply silicone brake grease to the slide pins, reinstall the caliper onto the bracket, and torque the slide pin bolts to specification.
    Torque spec

    Caliper Slide Pin Bolts35 Nm (26 lb-ft)

Reassembly

1. Reinstall the rear wheel and hand-tighten the lug nuts.
2. Lower the vehicle to the ground.
3. Torque the wheel lug nuts in a star pattern to specification (Wheel Lug Nuts: 140 Nm / 103 lb-ft).
4. Reconnect the 12V low-voltage battery.
5. Power on the vehicle and allow all systems to initialize. Expect EPB-related fault messages until calibration is complete.
6. Enter Tesla Service Mode and run the EPB calibration / apply-release function. The actuator should cycle and re-zero against the caliper spindle.
7. Clear any stored DTCs related to the EPB system.

Verification

• Confirm no EPB or ABS warning lights/messages remain on the instrument cluster after calibration.
• With the vehicle stationary on level ground, apply and release the parking brake several times via the touchscreen or P button. Listen for smooth, even actuation on both rear wheels (no grinding, no one-sided delay).
• On a slight incline, place vehicle in N and apply the EPB — vehicle must hold without rolling.
• Road test at low speed: apply EPB via the manual hold function (above ~5 mph if equipped) and confirm controlled stop without pulling to one side.
• Recheck wheel lug torque after 50-100 miles of driving — Tesla aluminum-faced wheels can settle.
• Note: Tesla recommends brake fluid replacement every 2 years regardless of mileage — log this service date so the next interval is tracked.
• Note: Tesla recommends tire rotation every 6,250 mi on Model Y Performance due to high tire wear — consider rotating now since wheels are off.

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