You're looking for information on how to download and install the Canon Service Tool ST-5510. Here's what I can put together for you:
Reviewers at JustAnswer often recommend having a technician replace the physical pads to avoid permanent hardware damage. Canon Support | Software and Drivers | Canon U.S.A., Inc. canon+service+tool+st+5510+free+download+install
However, for hobbyists and those in regions with expensive repairs, the free ST 5510 remains the most accessible option. You're looking for information on how to download