If you're installing new rotors, it's best to install new pads, which would require removing the caliper. new caliper hardware should also be installed. (metel slides on which the pads rest, springs which stop vibration) otherwise, the bracket can be removed with the caliper attached. compress the caliper piston before removal to relieve pressure to aid in removal. as long as the brake hydraulic system is not opened, you don't have to bleed the brakes
To replace the rotors, remove the calipers and then just take the rotors off. If you don't open the hydraulic system (you should not need to) no bleeding is necessary, but you will need to retract the caliper pistons using a "c" clamp in order to get them back over the new rotors. Make sure the slide pins that the bolts go through to hold the calipers on are free and that the piston boots are in good condition to avoid any further problems there.
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What happens when your break caliber brackets is no good
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