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Disconnect the batteries. Disconnect the ground wires, zip tie them together, and mark them. Disconnect the hot wires, zip tie them together, and mark them. Remove the starter bolts at the back of the starter.. there'll be three, and you'll need a 5/8" 12 point socket. A 5/8" combination wrench should be kept handy... if you can't get the bolts out with a ratchet or impact, stick the box end of the wrench on the bottom two bolts, and give the wrench several good kicks. For the top, if you're having difficulty, stick the box end of the wrench on the bolt, put a cheater pipe over it, and hammer on that cheater pipe. Once you've got it dropped, you'll disconnect the starter solenoid wire... this just requires a slotted screwdriver.
Installation is the opposite of removal.

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Q: How do you remove a starter on a semi truck cummin diesel engine?
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