ABB S4Cplus Instruction page 45

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If the calibration marks seem to be wrong (even if the motor calibration data is correct), try
to rotate the axis one turn, update the revolution counter and check the calibration marks
again (try both directions, if needed).
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This section details the second step when updating the revolution counter; storing the
revolution counter setting with the TPU (RobotWare 4.0).
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1. Press the button "Miscellaneous" then ENTER to select the service
window.
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2. Select Calibration from the View menu.
The Calibration window appears.
If there is more than one unit connected to the robot, they will be listed
in the window.
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3.2.4. Updating revolution counters
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