I dont know if it can be replaced while on the car but there are a couple things you should check before you go trying.
Check the gap. if the gap is too big it cant pull it in regardless. Ive seen this happen on a few really high mileage mazdas and a couple of dodge trucks too.
Next, if that checks out, check that there is power getting to the clutch magnet.
While you are doing both these things, you'll be able to get a good look around the compressor and see if its feesible to change the clutch while still on the car. I know its doable on most mazda stuff....but being a mazda mechanic and my lovely honda not letting me down much (knock on wood) I haven't really tried on any hondas.
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