Hi, these are my instructions for an E38 and wont be that dissimilar to a e34.
To change auto gearbox Fluid and filter on an E38 you will need:
1) a torx T20 socket for the pan screws and filter screws (male)
2) a H8 Hex socket for the drain and fill plug (male)
3) a minimum 10ltrs TITAN ATF 4000
4) a new filter ( BMW )
5) new pan gasket ( BMW )
6) a garden sprayer ( to refill, works brill )
7) a suitable container for draining fluid and rags.
> car up minimum 400mm
> Start up.. 10mins turn off
> remove bottom plug and drain fluid / BEWARE HOT FLUID BURNS !! / safety goggles required
> replace pan plug
> remove all pan screws / clips that hold wires to the pan/ be careful there will be fluid still in the pan!!
> remove the 2 filter screws / there will be fluid left in the filter !!
> clean out pan and the four magnets/ lint free cloth / degreaser or brake cleaner
> clean surfaces for gasket
> screw in new filter / make sure its in flat and take care to get the 'O' ring in correct
> replace the four magnets
> place gasket on pan with a little fluid / replace pan
> Undo fill plug / drivers side rear
> start filling until fluid dribbles out / replace plug finger tight
> start car... go through all gear selections slowly 3 times keeping foot on brake / then in 'P' turn off after 10 mins
> undo filler plug fill some more until dribble comes out / plug back in finger tight
> Start car put in 'N' ....now be careful not to burn yourself!! whilst car running (Air-con on full blast) undo filler plug put more fluid in until it dribbles out again, put filler plug in and tighten.
> All done car down, fluid to a designated place!!
> Time for a cup of tea / can of beer or a ciggy
Note: the entire box takes 10 ltrs, but you will not require this as the torque converter will still be half full and also the valve control body also contains more, I would say that a 7.5 ltr can will be enough, but please don't quote me!!
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