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I do it frequently. It is also how you can combine a large and small block ship together.
So to reattach the rotor head (IN SPACE), grab another ship with a landing gear and grab the rotor head and gently try to put it back on the rotor body. Save here. Then go to ship of the rotor body, select the rotor and choose "attach". If stuff moves a little, then it is attached.
On planet, the process is the same, just harder to line everything up correctly.
I seem to remember that now there's even the option of adding a small rotor head instead of the large one in the rotor's settings.
Connecting 2 rotors together on a ship = NOT GOOD
Connecting 2 rotors together on a station = OK
Old testing but can be used :
http://steamcommunity.com/sharedfiles/filedetails/?id=334308503
http://steamcommunity.com/sharedfiles/filedetails/?id=334300890
http://steamcommunity.com/sharedfiles/filedetails/?id=308134108
http://steamcommunity.com/sharedfiles/filedetails/?id=323824302
http://steamcommunity.com/sharedfiles/filedetails/?id=778985229
Been a long time since I've tried to do this again, I had to delete those on my ships to have a better maneuverability, on station it should work fine.