Repair Procedures: Replacement

Disconnect the battery negative cable from the battery and then wait for at least 30 seconds.
Turn the steering wheel so that the front wheels can face straight ahead.
Remove the airbag module.
Disconnect the connector & lock nut (A) and then remove the steering wheel by using special service tools (09561-11001).
Tightening torque:

39.2 ~ 44.1N.m (4.0 ~ 4.5 kgf.m, 28.9 ~ 32.5lb-ft)

Fig 1: Disconnecting Connector & Lock Nut
Courtesy of HYUNDAI MOTOR AMERICA

Fig 2: Removing Steering Wheel Using Special Service Tools (09561-11001)
Courtesy of HYUNDAI MOTOR AMERICA
CAUTION:
- Do not hammer on the steering wheel to remove it; it may damage the steering column.
Loosen the screw and then remove the steering column upper (A) and lower shroud (B).

Fig 3: Removing Steering Column Upper And Lower Shroud
Courtesy of HYUNDAI MOTOR AMERICA

Fig 4: Loosening Steering Column Screw
Courtesy of HYUNDAI MOTOR AMERICA
Disconnect the connectors (A) and then remove the clock spring (B).

Fig 5: Disconnecting Connectors
Courtesy of HYUNDAI MOTOR AMERICA

Fig 6: Removing Clock Spring
Courtesy of HYUNDAI MOTOR AMERICA
CAUTION:
- When assembling set the center position by setting the marks between the clock spring and the cover into line. Make an array the mark (→← ) by turning the clock spring clockwise to the stop and then 2.0 revolutions counterclockwise.
Disconnect the connector (A).

Fig 7: Disconnecting Connector (1 Of 2)
Courtesy of HYUNDAI MOTOR AMERICA

Fig 8: Disconnecting Connector (2 Of 2)
Courtesy of HYUNDAI MOTOR AMERICA
Loosen the screw and then remove the multifunction switches (A).

Fig 9: Removing Multifunction Switches
Courtesy of HYUNDAI MOTOR AMERICA
Remove the crash pad lower panel.
Remove the relay box.
Disconnect all connectors connected to the steering column.
Remove the steering column & EPS unit assembly by loosening the mounting bolt (B) and nuts (A).
Tightening torque:

Nut: 12.7 ~ 17.7N.m (1.3 ~ 1.8kgf.m, 9.4 ~ 13.0lb-ft)

Bolt: 44.1 ~ 49.0N.m (4.5 ~ 5.0kgf.m, 32.5 ~ 36.2lb-ft)

Fig 10: Removing Steering Column & EPS Unit Assembly Mounting Nuts
Courtesy of HYUNDAI MOTOR AMERICA

Fig 11: Removing Steering Column & EPS Unit Assembly Mounting Bolt
Courtesy of HYUNDAI MOTOR AMERICA
Remove the motor by loosening the bolts and then replace the new one.

Fig 12: Removing Motor Bolts
Courtesy of HYUNDAI MOTOR AMERICA
Install in the reverse order of removal.
Perform the "Inputting the motor constant value" by GDS following in the order below.
1. Connect self - diagnosis connector (16pins) located in the lower of driver side crash pad to self - diagnosis device.
2. Turn the self - diagnosis device after key is ON.
3. Select the "vehicle model" and "EPS system" on GDS vehicle selection screen.
4. Select the "Part exchange (Power steering Motor)".
  
  Fig 13: Screen Display - Part Exchange (Power Steering Motor)
  Courtesy of HYUNDAI MOTOR AMERICA
5. Follow the instructions shown on the screen.
Fig 14: Screen Display - Part Exchange (Power Steering Motor; 1 Of 3)
Courtesy of HYUNDAI MOTOR AMERICA

Fig 15: Screen Display - Part Exchange (Power Steering Motor; 2 Of 3)
Courtesy of HYUNDAI MOTOR AMERICA

Fig 16: Screen Display - Part Exchange (Power Steering Motor; 3 Of 3)
Courtesy of HYUNDAI MOTOR AMERICA
CAUTION:
- Entering incorrect motor constant value may cause a serious problem in the MDPS.
Conduct the "ASP Calibration" by GDS.
(Refer to "DIAGNOSIS WITH GDS ").
Remove the DTC and then perform the Conduct the "MDPS TEST (Motor Driven Power Steering)" by GDS.
(Refer to " MDPS PERFORMANCE INSPECTION").
Turn off the IGN switch and wait for 10 seconds or more. Then check the operation after starting the engine.