Thank you robonovak for this procedure. I requested the procedure from KUKA as well.
Cartridges are a bit deceptive as they have two holes that look like they are intended for a specific pin spanner/wrench to remove.
To add to the above they suggest using a hot air gun (not flame...) to break down the thread adhesive first.
Apply new cartridge thread with Drei Bond 5204HV to prevent any oil leaks on gearbox/wrist axis if applicable and to keep it from vibrating out.
I have some KR120 Quantec Nano Washdown robots where the springs, and spring clips in the cartridges corroded away.
Thanks again.