ABB IRB 930 Product Manual page 561

Correct synchronization position of axes 3 and 4
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 3 and 4 are positioned correctly.
Product manual - IRB 930
3HAC086009-001 Revision: A
Note
At delivery the manipulator is in the correct position. Do NOT shift axis 3 or rotate
axis 4 at power up before the revolution counters are updated.
If axis 4 is rotated one or more turns from its calibration position before updating
the revolution counter, the correct calibration position will be lost due to
non-integer gear ratio. This will further affect the calibration position of axis 3.
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6.3.1 Updating revolution counters on OmniCore robots
6 Calibration
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