Long Rider's method above is good for a normal bleed. But if you screwed up like I did once, and turned the engine on before any bleeding, read on..
Air bubbles will make the pump shudder. Here's a LINK to a power steering bleeding method (VIDEO) that helped me, after I made a major blunder when replacing the pump-to-rack pressure hose on my 940 Koyo system. It inspired me to improvise with my hand-pumped MityVac, as explained below.
I had impulsively started turning the wheel back and forth with engine running, and got LOT of shuddering vibration at random spots in the range of L-R motion. At one point it got really violent before I could kill the ignition. Belatedly, I then went to the engine-off procedure, but apparently had whipped a lot of air (from empty new hose) into the fluid.
After several short engine-off bleeding sessions, and some short starter bumps to turn pump, the shudders finally became fewer and less severe. Then (after some googling) I rigged a nipple-fitted Master Cylinder cap to the PS rez and connected the MityVac. I had to caulk around the cap and nipple base to get a seal, then did more L-R hand-cycling. [Google turned up many versions of this vacuum technique.]
My rig held 12Hg vacuum overnight overnight so I cycled it slowly about 15 times, watching the gauge. I saw it dip about 2Hg a couple of times (at the right turn limit, with a bubbling noise as I recall), then rise back up to 12Hg. I increased the vac to 20Hg and worked with that by hand for many more slow L-R cycles. The need to pump up the vacuum several times showed that air was being drawn out, so I finally released the vacuum to cycle L-R with the engine running (and fingers crossed).
I still got some shuddering on this "Final Test", but with patience running thin, I decided to let the front end down to see if weight on the ground would have a snubbing effect. It did, with just a hint of vibration at first. There were a couple of slight noises turns on the first road run, but it's been fine ever since.
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Bruce Young, '93 940-NA (current), 240s (one V8), 140s, 122s, since '63.
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