There is only one way. If I haven't done it in a while I have to "retrain" myself. Once the screws are removed I use the following steps:
>Slide the sprocket cover straight back towards the rear wheel. The rear of the cover will be behind the frame tube between one half to one inch
>Twist the front bottom of the cover outward and upward at the same time, kind of rolling the cover out from behind the frame at the rear of the cover
If you did it right the cover will be freed, often without even touching anything on its way out. Once I figured this out I was amazed at how easily it worked. From the shape of the cover and the adjacent frame makes it seem like the rear of the cover would come out first, or at least move outward at the same time as the front of the cover. It wasn't until I slid the cover to the rear and used the twist/rotate on the front edge of the cover that I discovered how easy it can be. I repeated this over a dozen times until I had committed the motion to memory. Reverse the procedure to install.
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EZPZ!
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Edit: Oh, and this does seem to be more of an issue on the later models. I don't think the early models were quite so bad. I think Sean is right about the later models having the output shaft extended outward probably being the contributing factor.