Here's the forum post I found when I was having issues:
http://forum.e46fanatics.com/showthread.php?t=704507 It's for E46s, but the motor and linkage are essentially the same (bolts to remove to get to the linkage/motor will be a bit different, and if my memory is correct we don't have that big PITA bolt at the back of the linkage). As for cleaning the motor, that info and 3 pictures are towards the bottom of the first post.