Hi, after taking the robot to a show and back, we found it could not complete the 4-point TCP calibration because the error is too big, > 15mm. It did not improve with repeated mastering with a dial gage.
Afterwards, we moved the tip with a straight distance of 100mm, and found it was off by as much as 5mm.
The tech support still believe it's the mastering (me too because there was no incident with moving the robot and all axis move smoothly) but they will charge a lot of money coming with an EMD mastering check.
It is a new (about half a year) KR 5 arc. The axes move smoothly and positional repeatability is good.
Any suggest or comment are really appreciated.
Thanks,
Jay