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ive heard of folks doing it without a crane but i would not try it , alignment is too critical with getting guides and stops back in and with nothing to move boom that would be too difficult
anyways: suspend boom end with double straps from crane , disconnect hydraulic/electric swivels/plugs at truck end lift end of boom slightly with boom all the way extended straight out , remove acess panel (both sides) at jct of upper/lower boom section . remove C clip one side drive out pin oppisite side (wiggle boom to clear pin) locate stops in lower section boom end unbolt , slowly pull upper boom with crane away take care of hydraulic lines and electric wires set on floor on wood cribbing , locate bottom of cylinder truck end find C clip and pin Might be behind a trim cover that might need to be remove drive out pin also remove bottom cylinder hyd hose connect crane to cylinder end move out a foot or so remove top cyliinder hydraulic hose then carefully slide out cylinider with crane , Note if your valves are not tight and new oil will leak back and cause boom base to sag when you unhook hydraulic hoses , your gonna need to block this up with wood cribbing just in case
reverse removal process to install new one , also i would not just install a new seal (you can) with out having cylinder recromed I'll bet it's rusty thats what tears the seals up
and allways replace entire oil volume in hydraulics your old seal is in old oil not good for the new one
Change the filter. If you can lower the loader by loosening a line at the valve, suspect the valve. All lines usually dump to tank at the valve. Make sure that line is ok. If any valves are electric, suspect them even more.