Some time ago I used zero position mastering on one of my robots without completely understanding how it works.
This was done on a R-30iB/M-1A.
After realizing I should have used quick master (I have the inspection data sheet) I started over by: entering the reference position counts for all joints from the IDS, setting $REF_DONE to TRUE, $MASTER_DONE to FALSE, moved to the scribe marks, then used quick master and calibrate.
My problem now is that when I jog all the joints to their 0 position, joint 4 is off by about 6.5mm.
Did my use of zero position master affect the reference or encoder counts in any way? Have I effectively rendered the $MASTER_COUNT on the IDS useless?