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I just bought an 02 2500HD and the brake pedalseems to have more free travel at the top then I am a custom to. Brakes work fine and seem to be in good shape it just the pedal has that "sloppy" area for about a 1/2 inch or right at the top. I've never driven a rear disc truck before but I don't believe that would be the reason, would it?
 

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The problem is probably not air, although it would behoove you to have the brake fluid fluid. It is more likely that the pads are not free to slide at anywhere from 1 to 4 corners of the truck. After removing the calipers, you should be able to remove the pads without tools. If not, corrosion has developed under the cast ear that holds the pads (right beneath the stainless shims.)
That will definitely cause the extra pedal travel, not to mention abnormal pad wear, incomplete rotor contact, and in some cases, front wheel bearing failure (if the backs are sliding right, the fronts work harder, overheating the bearings.)
 
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