Step 1: Turn off & unplug the machine then remove the water reservoir. 
Step 2: Remove the 2 socket cap hex screws on the back of the machine.
Step 3: Remove the top of the machine by slightly lifting the back up and pulling it back towards you. ​​​​​​​
Note that the top of the machine cannot be removed completely without removing the ground and warming pad wires connected to the underside.
You can simply rest the top on the other side of the machine without removing these. 
Now, if you look closely at the knob assembly you'll see 2 set screws, one on the inside of the machine and one on the outside, closest to the knob. 
Step 4: Loosen the outside set screw slightly.
For this screw, you just need to loosen the tension as this does not seat into anything, so it does not need to be removed completely. 

Step 5: Loosen the inside set screw. 
Note that this screw does seat into a hole and is much longer than the outside screw. 
Keep loosening it until you can push the knob all the way forward into the machine, this confirms it is loose enough to remove. 

Step 6: Rotate the knob so that the inner set screw is pointing down, then remove the knob by pulling it away from the machine.
This will give you enough clearance to remove the piece without the set screw getting caught on the machine.

Step 7: Unscrew the 4 screws holding the knob to the metal wheel. 

Step 8: Pry the metal wheel off the knob. 
My knob was glued to the metal wheel and required some prying which was a little stressful. I recommend doing this slowly.
To connect another knob or lever simply attach it using the same 4 screws then follow the steps in reverse to put the machine back together.
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