If robot is powered on & DISABLED it is possible to release the brake pressing the button inside the joint (use a plastic rod, not to make short-circuit as there electronic inside the joint is powered on!) and then observe the joint position in the manual screen of the cobot software (joint 4 position in the HMI)

Remove cover of the joint (In this case joint 4) 3 pieces of 2,5 unbrako screws

Turn the axis a bit over > -85 degrees in the arrow direction (It can be seen on the screen, while cobot software is shown)