This procedure replaces the electronic parking brake actuator located on the rear brake caliper. This is a safety-critical brake system component requiring proper calibration after installation.

Warnings

Tools required

Parts

• Parking brake actuator assembly × 1 — Use OEM Toyota part number for 2019-2024 RAV4
• Parking brake actuator mounting bolts (if corroded) × 2 — Use OEM specification

Preparation

1. Park vehicle on level ground and place transmission in Park
2. Chock the front wheels with wheel chocks on both sides
3. DO NOT apply parking brake during this procedure
4. Connect Toyota Techstream or equivalent scan tool capable of EPB service functions
5. Turn ignition to ON position (engine off) and verify scan tool communication
6. Loosen rear wheel lug nuts 1/4 turn while vehicle is on ground
7. Lift rear of vehicle with floor jack and support on jack stands at manufacturer-specified lift points on rear subframe
8. Remove rear wheel on side being serviced
9. Verify vehicle is stable on jack stands before working underneath

Procedure

1. 1

   Enter EPB Service Mode
   Using the scan tool, navigate to the Electronic Parking Brake system. Select 'Service Mode' or 'Actuator Retraction Mode' function. This will retract the parking brake piston fully into the caliper. Wait until the scan tool confirms service mode is active and actuator has completed retraction. The actuator motor should make a brief whirring sound during this process. If the actuator does not respond, verify electrical connections and scan tool compatibility before proceeding.
   ⚠️Do not attempt to remove actuator without completing service mode activation. The actuator motor will be under tension and may be damaged or cause injury.
2. 2

   Disconnect Actuator Electrical Connector
   Locate the parking brake actuator on the rear of the brake caliper. It is a cylindrical motor unit with an electrical connector on top. Press the locking tab on the electrical connector and carefully pull straight away from the actuator to disconnect. Inspect connector terminals for corrosion or damage. Clean with electrical contact cleaner if necessary.
   ⚠Do not pull on wires. Pull only on the connector body to avoid damaging the wiring harness.
3. 3

   Remove Actuator Mounting Bolts
   The parking brake actuator is secured to the brake caliper with two mounting bolts accessible from the rear of the caliper assembly. Using a 10mm socket, remove both actuator mounting bolts. Note the position and orientation of any washers or spacers. If bolts are corroded, apply penetrating oil and allow to soak for 10-15 minutes before removal. These bolts may have thread-locking compound applied from the factory.
   ⚠Support the actuator with one hand while removing the final bolt to prevent it from falling and damaging the actuator or brake components.
4. 4

   Remove Parking Brake Actuator
   Carefully pull the actuator assembly straight away from the caliper. The actuator shaft is connected to the caliper piston mechanism and should slide out smoothly if service mode was properly activated. Inspect the actuator shaft for damage, corrosion, or wear. Examine the caliper mounting surface for corrosion or debris. Clean the mounting surface with a wire brush and brake parts cleaner if needed.
   ⚠If actuator resists removal or feels bound, stop and verify service mode was successfully activated. Forcing removal can damage the caliper piston mechanism.
5. 5

   Inspect Caliper Piston Interface
   With the actuator removed, inspect the caliper piston and spindle mechanism visible in the mounting bore. Check for corrosion, damage, or contamination. The piston should be fully retracted into the caliper. Verify there is no brake fluid leakage from the piston seal. Clean any rust or debris from the spindle threads using a wire brush, but do not apply excessive force to the piston mechanism.
   ℹ️If the piston is damaged, leaking, or does not move smoothly, the entire caliper assembly may require replacement. This is beyond the scope of this procedure.
6. 6

   Prepare New Actuator for Installation
   Remove the new parking brake actuator from packaging and verify part number matches the original. Inspect the actuator shaft for any shipping damage or protective coatings that need removal. Apply a thin coat of anti-seize compound to the actuator shaft threads (not the mounting bolts). Do not apply grease or lubricant to the mounting surface itself.
   ℹ️Verify the new actuator is in the retracted position. Most new actuators ship in the retracted state, but if extended, it will not fit into the caliper.
7. 7

   Install New Parking Brake Actuator
   Align the actuator shaft with the caliper piston spindle mechanism. Carefully push the actuator into the caliper mounting bore while rotating slightly to engage the shaft threads with the piston spindle. The actuator should seat flush against the caliper mounting surface. Ensure the electrical connector is positioned for easy access and routing without wire interference.
   ⚠Do not force the actuator. If it does not seat smoothly, remove and verify shaft alignment and cleanliness of mating surfaces.
8. 8

   Install Actuator Mounting Bolts
   Install both actuator mounting bolts with any original washers or spacers in their correct positions. Thread bolts by hand initially to avoid cross-threading. Once both bolts are hand-tight, torque them evenly in a cross pattern to 27.0 Nm (20 lb-ft) as specified in the Mounting Bolts torque specification. Apply thread-locking compound to bolt threads if it was present on original bolts.
   Torque spec

   Mounting Bolts27 Nm (20 lb-ft)
9. 9

   Reconnect Actuator Electrical Connector
   Reconnect the electrical connector to the parking brake actuator by pushing firmly until the locking tab clicks into place. Gently tug on the connector to verify it is fully seated and locked. Ensure wiring is routed away from hot exhaust components, sharp edges, and moving suspension parts. Secure any wire clips or ties that were removed.
   ℹ️Verify connector orientation is correct. It should only fit one way, but forcing it backwards can damage connector pins.
10. 10

    Exit EPB Service Mode and Calibrate Actuator
    Using the scan tool, exit EPB service mode. The system may automatically exit when ignition is cycled. Then select the 'Parking Brake Adjustment' or 'EPB Calibration' function. Follow scan tool prompts to perform automatic calibration. The actuator will cycle through its full range of motion several times. This process typically takes 30-60 seconds. Wait for the scan tool to confirm successful calibration before proceeding.
    ⚠️Do not skip calibration. An uncalibrated parking brake actuator will not function correctly and may result in parking brake failure and vehicle rollaway.
11. 11

    Reinstall Rear Wheel
    Clean the wheel hub face with a wire brush to remove any rust or debris. Mount the wheel and install lug nuts by hand. Tighten lug nuts in a star pattern to approximately 50 lb-ft while vehicle is still on jack stands. Lower vehicle to the ground. With full vehicle weight on the wheel, perform final torque of lug nuts to 140.0 Nm (103 lb-ft) in a star pattern.
    Torque spec

    Wheel Lug Nuts140 Nm (103 lb-ft)
12. 12

    Perform System Function Test
    With the vehicle on level ground, start the engine and allow it to reach operating temperature. Apply the parking brake using the switch in the cabin. Listen for actuator motor operation and verify the parking brake warning light illuminates on the instrument cluster. The actuator should make a brief whirring sound. Release the parking brake and verify the warning light extinguishes. Using the scan tool, check for any diagnostic trouble codes in the EPB system.
    ⚠️If parking brake does not apply, warning light does not illuminate, or any fault codes are present, do not drive the vehicle. Repeat calibration procedure or seek professional service immediately.

Reassembly

1. Torque all fasteners to specifications using a calibrated torque wrench
2. Verify all electrical connections are secure and properly routed
3. Ensure no tools or parts were left in the wheel well or brake area
4. If working on both rear wheels, repeat procedure for opposite side

Verification

• Apply parking brake and verify warning light illuminates and actuator operates smoothly without unusual noise
• With parking brake applied, attempt to push vehicle on level ground to verify brake holding force
• Release parking brake and verify warning light extinguishes and vehicle rolls freely
• Perform parking brake holding test on an incline: with vehicle in Park, apply parking brake, shift to Neutral briefly to verify vehicle remains stationary, then return to Park immediately
• Drive vehicle at low speed in a safe area and apply parking brake to test dynamic emergency braking function
• Use scan tool to verify no EPB system fault codes are present
• CRITICAL: If any verification step fails, do not drive the vehicle. Repeat calibration or seek professional service immediately

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