ABB IRB 910INV Product Manual page 781

Make sure axis 1 and 2 are positioned according to the cable harness status, not
only according to the synchronization marks.
Axis 1 position
Use the following procedure to check and correct the axis 1 position.
1
2
Product manual - IRB 910INV
3HAC068055-001 Revision: K
6.3.1 Updating revolution counters on OmniCore robots
Action
Jog the manipulator to align the synchronization
mark.
Remove the base cover.
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6 Calibration
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Note
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