This procedure covers the replacement of the electronic parking brake motor on the rear brake caliper assembly of a 2019-2024 Toyota RAV4 with 2.5L I4 engine.

Warnings

Tools required

Parts

• Electronic parking brake motor assembly × 1 — 47750-42030 or equivalent OEM
• Parking brake motor gasket/seal × 1 — Use OEM specification

Preparation

1. Connect a 12V battery charger/maintainer to the vehicle battery to ensure stable voltage throughout the procedure
2. Connect Toyota Techstream or compatible scan tool with EPB service mode capability to the OBD-II port under the driver's side dashboard
3. Start the engine and verify the scan tool communicates properly with the Electronic Parking Brake ECU
4. Place wheel chocks in front of the front wheels
5. Turn off the engine but leave the ignition in ON/ACC position (do not disconnect battery)
6. Loosen the rear wheel lug nuts 1/4 turn while the vehicle is still on the ground
7. Lift the rear of the vehicle using a floor jack at the designated rear jacking point
8. Support the vehicle securely on jack stands positioned at the rear axle or frame support points rated for the vehicle weight
9. Remove the rear wheel on the side requiring EPB motor replacement

Procedure

1. 1

   Enter EPB Service Mode and Retract Caliper Piston
   Using the scan tool, navigate to the EPB system functions. Select 'Service Mode' or 'Maintenance Mode' to enter EPB service mode. This will disable normal EPB operation. Next, select the function to retract the rear caliper piston on the side being serviced. The scan tool will command the EPB motor to fully retract the caliper piston. Wait for the scan tool to confirm the operation is complete (typically 10-15 seconds). You may hear motor operation from the caliper during this process. Verify the piston has retracted by visual inspection.
   ⚠️Do not proceed without successfully entering EPB service mode and retracting the piston. Attempting to remove the motor without retraction will cause severe damage.
2. 2

   Disconnect EPB Motor Electrical Connector
   Locate the electrical connector on the rear of the brake caliper connected to the EPB motor. Press the locking tab and carefully pull the connector straight out from the motor. Inspect the connector pins and motor terminal for corrosion or damage. Do not allow the connector to hang where it could be damaged; secure it away from moving components.
   ⚠The connector contains weatherproofing seals. Do not force or bend the connector housing as this will compromise the seal.
3. 3

   Remove EPB Motor Mounting Bolts
   Locate the two EPB motor mounting bolts on the rear of the caliper assembly. These are typically 10mm or 12mm hex head bolts. Using the appropriate socket, remove both mounting bolts completely. Keep these bolts if they are in good condition and not damaged; they may be reused unless the replacement motor includes new mounting hardware. Note the orientation and position of any washers or spacers.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
4. 4

   Remove EPB Motor Assembly
   Carefully pull the EPB motor assembly straight out from the caliper body. You may need to gently wiggle it while pulling to break any corrosion seal. The motor shaft is splined and engages with the caliper piston mechanism. Once clear, remove the old gasket or O-ring seal from the caliper mounting surface. Clean the mounting surface on the caliper thoroughly with brake cleaner and a wire brush to remove any corrosion, old gasket material, or debris. Ensure the mounting surface is completely clean and dry.
   ℹ️Inspect the motor shaft splines and caliper engagement mechanism for damage or excessive wear. Any damage to these components indicates the caliper may also need replacement.
5. 5

   Prepare New EPB Motor for Installation
   Remove the new EPB motor from its packaging. Verify the motor is in the retracted position by checking that the motor shaft is fully inward. Install the new gasket or seal onto the motor body (or into the caliper mounting recess, depending on design). Apply a light coating of anti-seize compound to the mounting bolt threads (avoid getting any on the gasket surface). Inspect the electrical connector terminal on the new motor to ensure it is clean and free of protection caps or shipping covers.
   ⚠Do not apply grease or lubricant to the motor shaft splines or caliper engagement area. These are designed to operate dry.
6. 6

   Install New EPB Motor Assembly
   Align the motor shaft splines with the caliper piston mechanism. The motor will only fit in one rotational orientation due to the spline pattern. Carefully push the motor straight into the caliper body until the mounting flange is flush with the caliper surface and the gasket is fully seated. Hand-start both mounting bolts to ensure proper thread engagement before tightening either bolt. Using a torque wrench, tighten both mounting bolts in a cross pattern to the specified torque.
   ⚠Do not cross-thread the mounting bolts. If resistance is felt, back out and restart. The bolts should thread easily by hand for at least 2-3 turns.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
7. 7

   Reconnect EPB Motor Electrical Connector
   Align the electrical connector with the terminal on the new motor. Push the connector straight in until you hear and feel a positive click indicating the locking tab has engaged. Gently tug on the connector to verify it is fully locked in place. Ensure the connector seal is properly seated to maintain weatherproofing.
8. 8

   Perform EPB Motor Registration and Calibration
   Using the scan tool, exit EPB service mode if not already exited. Navigate to the EPB registration or calibration function. This is often called 'EPB Motor Registration', 'Parking Brake Learning', or 'EPB Calibration' depending on the scan tool. Select the function and follow the scan tool prompts to register the new motor. The system will command the motor through several extension and retraction cycles to learn the motor characteristics and calibrate the system. This process typically takes 30-60 seconds. Do not interrupt power or turn off the ignition during this process. Wait for the scan tool to confirm successful completion.
   ⚠️Motor registration/calibration is MANDATORY after EPB motor replacement. Failure to complete this procedure will result in non-functional parking brake and may prevent the vehicle from passing safety inspection.
   ⚠If calibration fails, do not attempt to drive the vehicle. Consult factory service information or seek professional service.
9. 9

   Functional Test of EPB System
   With the scan tool still connected, command the EPB to apply. You should hear the motor activate and feel resistance if you attempt to rotate the wheel by hand. Command the EPB to release and verify the motor deactivates and the wheel can spin freely. Repeat this test 3 times to confirm consistent operation. Use the scan tool to check for any EPB-related diagnostic trouble codes. Clear any codes related to the service mode operation, but investigate any other codes before proceeding.
   ⚠If the EPB does not apply with sufficient force to prevent wheel rotation, or if it fails to release completely, do not proceed. Recheck all connections and repeat calibration.
10. 10

    Reinstall Wheel and Perform Final Testing
    Reinstall the rear wheel onto the hub, ensuring the wheel is fully seated. Hand-tighten all lug nuts in a star pattern. Lower the vehicle until the tire just contacts the ground but most weight is still on the jack stands. Using a torque wrench, tighten the lug nuts to specification in a star pattern. Fully lower the vehicle and remove the jack stands. With the vehicle on the ground, perform a final torque verification of all lug nuts in a star pattern. Turn the ignition to ON (engine off) and manually activate the EPB using the switch on the center console. Verify the EPB indicator light illuminates and you hear/feel the motor activate. Release the EPB and verify the indicator light extinguishes.
    ℹ️Some vehicles may display a temporary EPB warning light after service. This should clear after 1-2 drive cycles if the system is functioning correctly.
    Torque spec

    Wheel Lug Nuts140 Nm (103 lb-ft)

Reassembly

1. Ensure all electrical connectors are fully seated and locked
2. Verify all mounting bolts are torqued to specification
3. Confirm wheel lug nuts are properly torqued in star pattern
4. Remove battery charger/maintainer if still connected
5. Disconnect scan tool

Verification

• Start the engine and verify no EPB warning lights are illuminated on the instrument cluster
• With the vehicle in Park and engine running, apply the EPB using the console switch and verify firm application
• Release the EPB and verify complete release with no warning lights
• Perform a low-speed test in a safe area: while driving at 5 mph, apply the EPB to verify it engages and brings the vehicle to a controlled stop
• Park on a slight incline, apply the EPB, shift to Neutral, and verify the vehicle does not roll
• Use scan tool to verify no diagnostic trouble codes are present in the EPB system
• Test drive the vehicle at normal speeds and verify proper brake function and no unusual noises from the rear brakes
• After the first 50-100 miles, re-verify EPB function and check for any warning lights

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