Calibration of motoman Robot

The robot itself? The tool control point? Robot to robot? Robot to external axis?

use the 5 point method... it is describe in the manual.

Do you need calibration for your tool or calibration for your manipulator.

Not sure which controller, but here's the summary of keystrokes:

TOP MENU or MAIN MENU
ROBOT
TOOL
cursor to the tool number you want and SELECT
once in the tool file, choose UTILITY from the menu area and choose CALIBRATION

This is where you can do the 5 point calibration using TC1 through TC5.

Let us know if you need the procedure for an earlier controller than XRC.

You can use motoman 5 point method though you need to calculate/measure Rx, Ry, Rz values yourself. Else you can get some calibration system like Leoni tcp calibration system which will do the job automatically for you.

Do you want a very accurate TCP or or would about 1mm be close enough for you (depends on how good your eyes are)?
The only way to get a really accurate tcp inclung angles would be to use an automated system. We use one that has an accuracy of 0, 02mm and does a 5D or 6D absolute calculation. Pretty neat thing the best ive seen so far. Were using it with a DX100

Quote from Kempi

Do you want a very accurate TCP or or would about 1mm be close enough for you (depends on how good your eyes are)?
The only way to get a really accurate tcp inclung angles would be to use an automated system. We use one that has an accuracy of 0, 02mm and does a 5D or 6D absolute calculation. Pretty neat thing the best ive seen so far. Were using it with a DX100

What kind of system are you currently using?

It is a LEONI advintec TCP3D System. They have a little demo video on youtube, showing a 5D calibration with a small robot.