Hi thank you for your question i can help.
Can you tell me the year and engine size of your P30.
Not sure why David opted out, but I will try to help you.
It is not a fun job ,but here goes;
Jack up and support RV with proper jack stands. Do not trust the leveling jacks!
Remove the rear Duals and set aside.
Remove the bolts holding the axles, remove axles.Get a big socket for removing nuts holding hub assembly, Somewhere around 3 inch.Have rig tilted up on side you are working on so you don't lose all of your rear end fluid.
Be sure to fill the rear end to proper level after repair is completed.Don't break your back lifting them off! Not a good job for many back yard operations!!
Please be careful and let me know if I can give any more assistence.
Thanks and good luck, Steven
Sorry it is taking so long, but I have been trying to locate procedure and diagrams to help you with this matter. I can recall from memory, but would like to be sure as well as give you some tangible literature.
Thanks for your patience, Steven
It seems to me the axle shaft was held in by retaining clips or large stop nuts.
Don't you see anything inside that area behind the cover? The nuts are very thin.
It has been a while and I wanted to give you something you could see that would help you. Those rotor are quite expensive and not sure many shops can turn them.
Good luck to you sir.
Take care and happy RV'ing, Steven
Here is a nice manual with everything you would ever want to know about the P-30 chassis execpt how to remove rotor unless I missed it.
I have not given up yet!! http://www.offroadtoybox.com/RV/P-Chassis-AlignmentProcess.pdf
I have opted out of your question to allow other experts to give it a shot.
Sorry I was not able to help you.