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You will need to take the TV down. The Rocketfish Universal Soundbar Mount goes directly against the back of the TV and then the TV mount brackets are attached THROUGH the bolt holes in the Soundbar mount. The Soundbar mount comes with a variety of bolts and spacers to make sure everything mounts properly. I had Geek Squad install mine but it's not a bad DIY. The Geek Squad installer did say that this is one of the most sturdy mounts they have personally installed. I believe that part of the reason is the fact that it is integral to the connection between the TV and wall mount. The arms are easy to adjust to accommodate long or short soundbars. Once installed, my Samsung HW-R650 soundbar is right against the bottom of the TV with virtually no gap - just the way I wanted it.
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