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In normal operation, there is no wear and no need to adjust them. If they need adjustment, there is wear and that means that something is wrong. The pads are dragging and wearing. Lack of lubrication and corrosion are common causes. The internals are often dry, but the cables can be corroded. Also inspect external levers at the backing plate.
When a new rotor is fitted and the old rotor did not have any wear frompads dragging, then adjustment is not needed. If the pads were dragging causing wear, and if the mechanism was adjusted in the past, one may have to slacken the adjuster to get the rotor off to clear a wear lip. There is typically a star wheel inside and a whole in the rotor and hub to allow acess with a lever or screwdriver blade.
The caliper needs to be unbolted and the rotor removed to clean and lube the parking brake shoes.
I was really hoping that my 9-5 would have caliper p-prakes... no such luck.
Lubricate all sliding contacts, IE where the shoe edges rub on the main backing plate, and all pivots. Use copper grease or other antisieze compounds. Remember that these are also providing rust prevention. So apply where it makes sense. Also apply to the rotor-hub concentric diameter interface to permit future removal, and the rotor to hub index screw, which should not be tighened very much at all.
This style of P-brake really sucks and the rotor has to be pulled for cleaning and preventative maintenance. Without this almost all of them will self destruct! I have put up with these since the 1960's and I really think that the design sucks. I am ready for cam activated caliper P-brakes! Having to pull the things apart for PM when there is otherwise no routine wear at all is a PIA. If you ignore the situation you will find that the P-brake shoes are very expensive.
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