Comment on POA - Power of Attorney for your Demat account

I have the trading and demat a/c with ICICI Direct. Due to their high brokerage, I want to shift the trading a/c to Zerodha. I will be trading ONLY in Future/Options and would like to take benefit of having extra margin by pledging the shares I have in ICICI direct DP a/c. Please guide what I need to do?
Can I pledge shares directly from ICICI Direct DP a/c (if yes, what is the process), or, do I need to open another DP a/c and transfer from ICICI DP to that DP?
What is the process of pledging the share for the purpose of increasing the margin for F&O trades? Is this done online or some paper work is involved?

Are there any charges for pledging the shares?

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