The robot can be mastered at any time without affecting the stored positions of programs already created in the controller.

• A. True
• B. False
• C. Only for new programs
• D. Only if the controller is in rest mode

Answer: (B)

Mastering establishes the robot’s reference frames by aligning the mechanical axis zero points with the controller’s electronic references. When you redefine these origins, all stored positions and paths—whether in world, tool, or user coordinates—are interpreted relative to the new frames. That means the numeric values in programs can point to different physical locations after mastering, so you can’t master at any time without risking changes to existing programs. In practice, mastering is done when there’s mechanical change or drift, and afterward you verify and adjust or re-teach as needed.