Mastering Problem

Quote from m.dinio

our kuka kr 210 A1 mastering pin broked and replaced with new one

You mean you had to replace the Mastering Gauge? The part outlined in red:

Quote from m.dinio

now i want to calibrate tool but my error is 2mm , how can i solve this error to under 0.5 mm.

2mm where? At the Mastering Gauge, or at the TCP? During what process?

If you already did the Mastering with the new Gauge, your old Mastering is probably unrecoverable. If you have not already done the Mastering, you could probably repeat Check Mastering while moving the Gauge slightly until the Mastering error is minimized, then lock the new Gauge in place.

Quote from m.dinio

2mm at tcp calibration xyz-4point

yes we mastering all axis of robot again,

I'm honestly not sure if KRC backups include any data on Mastering. IIRC, there's a way to save RDC data out to a file, but that takes specific manual operation. Someone else might know more.

So, without any data to compare current vs previous Mastering, the only option I can think of would be trial and error. The good news is, I think you can do this without being forced to move the Gauge every time. Try adjusting the $MAMES[1] value in /R1/MADA/$MACHINE.DAT. This is the software offset between the "optimum" Mastering position of the axis and the "real" Mastering position.

You'll have to try changing $MAMES slightly (we're probably 0.1deg or so), then re-teaching the TCP, and keep doing that until you find the minimum TCP error.

Quote from m.dinio

our kuka kr 210 A1 mastering pin broke..

Did you change only the pin of Axis number 1?

Imho this shouldn't have an effect to the measurement of a tcp. This only should have an effect to measuring of bases in comparison to old calibration or other robots. It only should turn the robot root system around z axis.

Think your problem has a different reason.