I have a Fanuc 120iBe Arc Mate with a torch, that cuts circles in pipe. An operator turned the power off, we replaced batteries, zeroed out all axis, but J6 only had mark on the wrist. We zeroed out the J6 by lining up the dowel pin at the bottom 180 degrees and the dowel hole at the top 0 degrees, with the screw holes 45, 135, 225 and 315 degrees respectively. The torch now runs through the program, just a little off linear and vertically. My question is does anyone know where true zero position is on the outer part of the J6 wrist? Thank you in advance for any replies.