CRX Mastering after BZAL with no marks?

    Hello guys,

    we have a CRX-10iAl with 3DV sensor installed at our facility. During christmas holidays, the robot was off and after we came back, we had SRVO-062 BZAL on axes 1,2,3. We have replaced the drained batteries and I'm having trouble with mastering. Unfortunately, the robot was painted over due to design reasons and the zero witness marks are gone :frowning_face:

    I have tried to do single axis mastering, but now I'm not sure, whether the robot is correctly following taught points, visually it seems a bit off and it would be a nightmare to touchup all the points in all programs and also redo the Vision.

    Is there any way to do correct mastering without witness marks? I have the factory datasheet with encoder count numbers, but after single axis mastering, only axis 2 now corresponds exactly to factory defaults, the other two are completely off and when I try to change values in $DMR.$MASTER_COUN by means of manual entry, the positions of joints seem to be off (POSN screen).

    I have gone trough forum and am a bit confused. I suppose, that zero position (within half a revolution of the encoder) is unreachable witout the marks. We have not overwritten the quick mastering reference position, which should be from factory "on marks".

    What do you suggest?

    Thanks for your support!

    But how do you tell that you're within a revolution? Should the resulting numbers in $DMR.$MASTER_COUN be the same as in factory datasheet? Or if I'm off the correct quickmaster position, I won't be able to quickmaster at all?

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