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.