diff --git a/march_hardware_builder/robots/march4.yaml b/march_hardware_builder/robots/march4.yaml
index 0d08ab40a..618204ec2 100644
--- a/march_hardware_builder/robots/march4.yaml
+++ b/march_hardware_builder/robots/march4.yaml
@@ -63,7 +63,7 @@ march4:
         temperatureges: {slaveIndex: 4, byteOffset: 0}
         imotioncube:
           slaveIndex: 3
-          encoder: {resolution: 12, minPositionIU: 462, maxPositionIU: 937, zeroPositionIU: 759, safetyMarginRad: 0}
+          encoder: {resolution: 12, minPositionIU: 466, maxPositionIU: 930, zeroPositionIU: 762, safetyMarginRad: 0}
 
     - left_ankle:
         actuationMode: position