My KR16 (C2 V5.5.16) needs mastering A6 after telling me ‘PM1 below 22 volts’. KUKA will come and replace the battery. And they say A6 can be mastered just by manually aligning the marks on A6 and press the button on teachpad. I just wondering whether mastering by sight is precise, is it proper?
It also makes my think: Does a wrong mastered A6 really effect the calibration of tool (by 4 points)? Does it effect the calibration of base (by 3 points, with the calibrated tool with the same A6 mastering). How does it effect the translation between joints angles and Cartesian coordinates?