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You do not have to take the cannon off. I have replaced this rubber on my AC/DC a few times and it isn't difficult:
You do have to loosen the ramp and remove that ramp post over the sling shot, maybe the slingshot plastic too (can't remember if I do that).
The cannon is easier to handle if it's rotated to the fire position. Power up the pin and either use the cannon test (diagnostics menu) to rotate the cannon or simply use your finger to press the micro switch on the inside of the cannon which will cause it to rotate. When the cannon is fully rotated switch off the pin before it rotates back.