Special Maintenance Procedure?

[c4791p]

RE 2001 MBZ SL500 VIN wdbfa68f71f200163

In the MBZ EPC I have, the following parts are identified

F Rotor x 2, 129 421 21 12
R Rotor x 2, 129 423 01 12

F Pad, 003 420 08 20
R Pad, 003 420 30 20

F Sensor x 2, 140 540 12 17
R Sensor x 1, 126 540 20 17

I have without error for years changed out my own rotors and pads and am looking to do the same on the 2001 SL that I have owned for a week (33033 miles), but when I look at the EPC I see a code annotated with respect to the rotors. The Code is P30.

I have purchased parts on and off for my other MBZ SL's and others, from BenzBin and others including ***************. I see on their website a notation regarding a special maintenance procedure for replacing brake rotors.

Was wondering if anyone could advise about the Code P30 and whether DIY replacement of the rotors and brake pads is a safe and sane undertaking or if I should just suck it up an pay the dealer a ton of money.

Chuck