Failed to register autoamticaly TCP MRC

Quote from Czirjak Cristian

The problem is that after registration I have tried to rotate the tool center around the registration point and the tool tip don't keeps constant distance around registration point.

If the tcp doesn't rotate around the point, I would either question how accurate the points were taught or the calibration of the robot. Being a MRC I would question the mechanical home position not being correct enough. The kinematic model vs. the real robot don't match each other accurately enough.

Quote from Czirjak Cristian

I read also that the tool orientation shall be inserted manually.
How to do it?
What shall be the reference? Center of t axis?
Thank you.

The tool angles are done manually from the mechanical home position with the Z-axis coming out of the T-axis in a positive direction.