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.
1. Loosen the bolts (A).
  
  Fig 1: Locating MDPS Motor Bolts (1 Of 2)
  Courtesy of HYUNDAI MOTOR AMERICA
  
  Fig 2: Locating MDPS Motor Bolts (2 Of 2)
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2. Disconnect the horn connector.
Fig 3: Disconnecting Horn Connector
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Loosen the lock nut (A), disconnect the connector (B) and then remove the steering wheel by using SST (09561-11001).
Tightening torque :

39.2 ~ 49.0N.m (4.0 ~ 5.0kgf.m, 28.9 ~ 36.2lb-ft)

Fig 4: Loosening Lock Nut (1 Of 2)
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Fig 5: Removing Steering Wheel By Using SST (09561-11001) (2 Of 2)
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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 6: Removing Steering Column Upper & Lower Shroud Screw (1 Of 2)
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Fig 7: Removing Steering Column Upper & Lower Shroud Screw (2 Of 2)
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Disconnect the connector and then remove the clock spring (A).

Fig 8: Disconnecting Connector (1 Of 2)
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Fig 9: Removing Clock Spring (2 Of 2)
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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.
Remove the multifunction switches (A).
1. Disconnect the connector.
  
  Fig 10: Disconnecting Multifunction Switch Connector (1 Of 2)
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  Fig 11: Disconnecting Multifunction Switch Connector (2 Of 2)
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2. Loosen the screw.
Fig 12: Loosening Screw
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Remove the crash pad side cover and lower crash panel (A).

Fig 13: Removing Crash Pad Side Cover And Lower Crash Panel (1 Of 3)
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Fig 14: Removing Crash Pad Side Cover And Lower Crash Panel (2 Of 3)
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Fig 15: Removing Connectors (3 Of 3)
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Disconnect all connectors connected the steering column & EPS unit assembly.
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 16: Removing Steering Column & EPS Unit Assembly Mounting Bolt & Nuts (1 Of 2)
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Fig 17: Removing Steering Column & EPS Unit Assembly Mounting Bolt & Nuts (2 Of 2)
Courtesy of HYUNDAI MOTOR AMERICA
Remove the motor by loosening the bolts and then replace the new one.

Fig 18: Removing Motor Bolts
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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 19: Screen Display - Part Exchange (Power Steering Motor)
  Courtesy of HYUNDAI MOTOR AMERICA
5. Follow the instructions shown on the screen.
Fig 20: Screen Display - Part Exchange Inputting Motor Constant Value (1 Of 3)
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Fig 21: Screen Display - Part Exchange Procedures (2 Of 3)
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Fig 22: Screen Display - Part Exchange Inputting Last Two Digit Constant (3 Of 3)
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CAUTION:
- Entering incorrect motor constant value may cause a serious problem in the MDPS.
Conduct the "ASP Calibration" by GDS.
(Refer to MDPS Motor - "Diagnosis with GDS" below)
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.