ABB IRB 910INV Product Manual page 782

6 Calibration
6.3.1 Updating revolution counters on OmniCore robots
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Action
Remove the SMB assembly without disconnecting
the connectors.
Tip
Do this step to see the cable status more clearly.
Inspect the cable harness status.
The cable harness should be in vertical state
without twisting as shown in the figure.
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Product manual - IRB 910INV
3HAC068055-001 Revision: K