Assigning a request to an Asset

Assigning a request to an Asset

I thought there was a way to associate Incident/Service Request to assets. I look in the Asset section and choose a server and there is a Request Tab. But there is not a way or button to  add requests. 

I then go to modify an Incident and/or Service Request and there are no options or fields to associate assets to the request. Need a little help here. 

Thanks

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