Repair Procedures: Removal

Turn the ignition switch OFF.
Disconnect the brake tubes from the HECU by unlocking the nuts counterclockwise with a spanner.
Tightening torque:

18.6 ~ 22.6 N.m (1.9 ~ 2.3 kgf.m, 13.7 ~ 16.6 lb-ft)
Pull up the lock of the ESC control unit connector, then disconnect the connector.

Fig 1: Identifying ESC Control Unit Connector
Courtesy of HYUNDAI MOTOR CO.
Loosen the ESC HECU bracket bolts (A) and nut (B), then remove HECU and bracket.
Tightening torque:

16.7 ~ 25.5 N.m (1.7 ~ 2.6 kgf.m, 12.3 ~ 18.8 lb-ft)

Fig 2: Identifying ESC HECU Bracket Bolts And Nut
Courtesy of HYUNDAI MOTOR CO.
CAUTION:
1. Never attempt to disassemble the HECU.
2. The HECU must be transported and stored in.
3. Never shock to the HECU.
Remove the 3 bolts, then remove the bracket from HECU.
Tightening torque:

10.8 ~ 13.7 N.m (1.1 ~ 1.4 kgf.m, 8.0 ~ 10.1 lb-ft)