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Park break module

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If you are talking about the Model S parking brake caliper assembly, it's easy to remove and replace. There are two bolts accessed from the rear of the caliper. Unplug the wiring harness from the back of the assembly. Depress the little tab on the terminal plug and pull away from the caliper (harder than it sounds to get the tab depressed enough but keep trying). Remove the two bolts and slide the caliper over the edge of the rotor.

More than you want to know, probably, but if you intend to replace the brake pads be aware that the brake motor has a one-way adjustment -- as the pads wear the motor adjustment closes what otherwise would be an increasing gap between the rotor and the pads. In order to install new pads (or if you are using a set of used calipers) you will have to open the back of the motor housing and wind the adjustment wheel back to its seated position. That way you will have the initial clearance to accommodate different pad thickness. During the first few subsequent applications of the brake the pad spacing will self adjust and you will be good to go.