If the screw head is worn out there's little chance you'll be able to unscrew it now...most probably thread locking compound is applied to that lock screw which will only make it worse.
If you got an other cordless drill with adjustable torque setting you could try with it... set it on low torque and clockwise rotation and press hard on the screw, the clutch should slip...increase torque setting gradually, it should work...
If that fails,I see no other way other than drilling the head off...and then you still got the problem of taking the remaining thread out!




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