We have a M-6iB robot in my campus that had a faulty cable running from robot to the control cabinet. It caused a SRVO-138 alarm for 6 axis. Before we found out about the cable I tried mastering using both the zero point and quick master in master/cal.
Now the robot is working again and I can jog it in joint. The problem is that when i jog the robot to it's witness marks, the values in joint are 0,0,0,0,0,0 but when i change to world(cartesian) the coordinates are nowhere close to 0. If i try to move the robot in world it causes a singularity alarm.
Can I change the home position somehow or do I have to master again? What is the correct procedure for mastering in this situation? I have written down the old master_count and ref_count values but there is no backup available.