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Depends on which ENGINE you have (three different engines in the 2001 Santa Fe)... I4 (four cylinder), 2.7L (V6) and the 3.5 (V6). Each has different (exact) procedures for replacing the timing belt.
Car Manufacturer's Recommendations A standard replacement period for the timing belt will fall between 50,000 and 100,000 driven miles. The owner's manual or service manual for your particular model will give you a specific time for replacement.
Below is the diagram you will need to replace the belt. The diagram is for a 6cyl. 2.7 engine (most common for that year). Once the tensioner pulley is loose, route the new belt as diagrammed and while applying pressure, tighten the tensioner pulley.
2002 Hyundai Santa Fe 2.7L with A/C
There is a very good chance the Crankshaft Position Sensor needs replaced. The CKP is what I replace the most for no spark on the 2.4 engine. It is behind the timing belt cover mounted above the crankshaft sprocket. Sometimes they just fail because the sensor was a bad part, other times teeth shear off of the timing belt and get in the wrong place and break the sensor.
That depends on if the front motor mount is blocking half of the timing belt . Then you have to have the motor lifted out to change the timing belt . Now that just added at least another 2 hours to the labour hours. In all honesty, now you are looking at a 4 to 6 hours of total work . Now , do you know if it is a timing belt or a timing chain. Timing belt, yes will take about 4 to 6 hours , but a timing chain will take over 8 hours because it is inside the motor.
You need to use Hyundai Diamond ATF SP-II M or any fluid which lists compatible. I recommend Hyundai brand fluid but aftermarket is ok. The listing would be on the bottle. Do no use Dextron / Mercon fluids.
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