Unable to run some static tests on this HEPI due to large offset on the IPS. Tweeked this to ~100. See the attached: The 7th graph is the local IPS V4 sensor and the zeroing is clear. The rest of the graphs are the cartesian values. It makes sense that Z RX & RY are changed during the tweek. The rest of the CART DoFs are unchanged. Don't be fooled--the shifts in the other dofs are earlier by a few minutes when the loops were opened.